From 1be52495f1493390cd2d282c3fcc1d0668ee26a4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 8 Jul 2017 14:46:24 +1000
Subject: [PATCH] Plane: eliminate global static GCS_MAVLINK::send_home_all

---
 ArduPlane/GCS_Mavlink.cpp    | 4 ++--
 ArduPlane/GCS_Plane.h        | 3 +++
 ArduPlane/commands.cpp       | 4 ++--
 ArduPlane/commands_logic.cpp | 2 +-
 4 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index de5e3692db..2bbfc42e06 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -1462,7 +1462,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
                 plane.ahrs.set_home(new_home_loc);
                 plane.home_is_set = HOME_SET_NOT_LOCKED;
                 plane.Log_Write_Home_And_Origin();
-                GCS_MAVLINK::send_home_all(new_home_loc);
+                gcs().send_home(new_home_loc);
                 result = MAV_RESULT_ACCEPTED;
                 gcs().send_text(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",
                                         (double)(new_home_loc.lat*1.0e-7f),
@@ -1953,7 +1953,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
         plane.ahrs.set_home(new_home_loc);
         plane.home_is_set = HOME_SET_NOT_LOCKED;
         plane.Log_Write_Home_And_Origin();
-        GCS_MAVLINK::send_home_all(new_home_loc);
+        gcs().send_home(new_home_loc);
         gcs().send_text(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",
                                 (double)(new_home_loc.lat*1.0e-7f),
                                 (double)(new_home_loc.lng*1.0e-7f),
diff --git a/ArduPlane/GCS_Plane.h b/ArduPlane/GCS_Plane.h
index ea726770be..ac5292803c 100644
--- a/ArduPlane/GCS_Plane.h
+++ b/ArduPlane/GCS_Plane.h
@@ -17,6 +17,9 @@ public:
     GCS_MAVLINK_Plane &chan(const uint8_t ofs) override {
         return _chan[ofs];
     };
+    const GCS_MAVLINK_Plane &chan(const uint8_t ofs) const override {
+        return _chan[ofs];
+    };
 
     void send_airspeed_calibration(const Vector3f &vg);
 
diff --git a/ArduPlane/commands.cpp b/ArduPlane/commands.cpp
index c4b00b9a30..8ce051e84e 100644
--- a/ArduPlane/commands.cpp
+++ b/ArduPlane/commands.cpp
@@ -109,7 +109,7 @@ void Plane::init_home()
     ahrs.set_home(gps.location());
     home_is_set = HOME_SET_NOT_LOCKED;
     Log_Write_Home_And_Origin();
-    GCS_MAVLINK::send_home_all(gps.location());
+    gcs().send_home(gps.location());
 
     // Save Home to EEPROM
     mission.write_home_to_storage();
@@ -138,7 +138,7 @@ void Plane::update_home()
         if(ahrs.get_position(loc)) {
             ahrs.set_home(loc);
             Log_Write_Home_And_Origin();
-            GCS_MAVLINK::send_home_all(loc);
+            gcs().send_home(loc);
         }
     }
     barometer.update_calibration();
diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index 999ece81d0..e99d13d7c4 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -905,7 +905,7 @@ void Plane::do_set_home(const AP_Mission::Mission_Command& cmd)
         ahrs.set_home(cmd.content.location);
         home_is_set = HOME_SET_NOT_LOCKED;
         Log_Write_Home_And_Origin();
-        GCS_MAVLINK::send_home_all(cmd.content.location);
+        gcs().send_home(cmd.content.location);
     }
 }