Copter: fix Cygwin build

Static initialization doesn't have an exact order, we can't rely on it

ArduCopter/ArduCopter.cpp

@@ -582,7 +582,7 @@ void Copter::publish_osd_info()
     nav_info.wp_distance = flightmode->wp_distance() * 1.0e-2f;
     nav_info.wp_bearing = flightmode->wp_bearing();
     nav_info.wp_xtrack_error = flightmode->crosstrack_error() * 1.0e-2f;
-    nav_info.wp_number = mission.get_current_nav_index();
+    nav_info.wp_number = mode_auto.mission.get_current_nav_index();
     osd.set_nav_info(nav_info);
 }
 #endif

ArduCopter/Copter.h

@@ -910,7 +910,6 @@ private:
     ModeAltHold mode_althold;
 #if MODE_AUTO_ENABLED == ENABLED
     ModeAuto mode_auto;
-    AP_Mission &mission = mode_auto.mission; // so parameters work only!
 #endif
 #if AUTOTUNE_ENABLED == ENABLED
     ModeAutoTune mode_autotune;

ArduCopter/Parameters.cpp

@@ -660,7 +660,7 @@ const AP_Param::Info Copter::var_info[] = {
 #if MODE_AUTO_ENABLED == ENABLED
     // @Group: MIS_
     // @Path: ../libraries/AP_Mission/AP_Mission.cpp
-    GOBJECT(mission, "MIS_",       AP_Mission),
+    GOBJECTN(mode_auto.mission, mission, "MIS_", AP_Mission),
 #endif
 
     // @Group: RSSI_
@@ -1002,7 +1002,7 @@ ParametersG2::ParametersG2(void)
     , proximity(copter.serial_manager)
 #endif
 #if ADVANCED_FAILSAFE == ENABLED
-    ,afs(copter.mission, copter.gps)
+    ,afs(copter.mode_auto.mission, copter.gps)
 #endif
 #if MODE_SMARTRTL_ENABLED == ENABLED
     ,smart_rtl()

ArduCopter/RC_Channel.cpp

@@ -173,7 +173,7 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
                 }
 
                 // do not allow saving the first waypoint with zero throttle
-                if ((copter.mission.num_commands() == 0) && (copter.channel_throttle->get_control_in() == 0)) {
+                if ((copter.mode_auto.mission.num_commands() == 0) && (copter.channel_throttle->get_control_in() == 0)) {
                     return;
                 }
 
@@ -181,7 +181,7 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
                 AP_Mission::Mission_Command cmd  = {};
 
                 // if the mission is empty save a takeoff command
-                if (copter.mission.num_commands() == 0) {
+                if (copter.mode_auto.mission.num_commands() == 0) {
                     // set our location ID to 16, MAV_CMD_NAV_WAYPOINT
                     cmd.id = MAV_CMD_NAV_TAKEOFF;
                     cmd.content.location.options = 0;
@@ -192,7 +192,7 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
 
                     // use the current altitude for the target alt for takeoff.
                     // only altitude will matter to the AP mission script for takeoff.
-                    if (copter.mission.add_cmd(cmd)) {
+                    if (copter.mode_auto.mission.add_cmd(cmd)) {
                         // log event
                         copter.Log_Write_Event(DATA_SAVEWP_ADD_WP);
                     }
@@ -210,7 +210,7 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
                 }
 
                 // save command
-                if (copter.mission.add_cmd(cmd)) {
+                if (copter.mode_auto.mission.add_cmd(cmd)) {
                     // log event
                     copter.Log_Write_Event(DATA_SAVEWP_ADD_WP);
                 }
@@ -221,7 +221,7 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
         case MISSION_RESET:
 #if MODE_AUTO_ENABLED == ENABLED
             if (ch_flag == HIGH) {
-                copter.mission.reset();
+                copter.mode_auto.mission.reset();
             }
 #endif
             break;

ArduCopter/commands.cpp

@@ -88,8 +88,8 @@ bool Copter::set_home(const Location& loc, bool lock)
         // log new home position which mission library will pull from ahrs
         if (should_log(MASK_LOG_CMD)) {
             AP_Mission::Mission_Command temp_cmd;
-            if (mission.read_cmd_from_storage(0, temp_cmd)) {
-                DataFlash.Log_Write_Mission_Cmd(mission, temp_cmd);
+            if (mode_auto.mission.read_cmd_from_storage(0, temp_cmd)) {
+                DataFlash.Log_Write_Mission_Cmd(mode_auto.mission, temp_cmd);
             }
         }
 #endif

ArduCopter/mode.cpp

@@ -269,8 +269,8 @@ void Copter::exit_mode(Copter::Mode *&old_flightmode,
     // stop mission when we leave auto mode
 #if MODE_AUTO_ENABLED == ENABLED
     if (old_flightmode == &mode_auto) {
-        if (mission.state() == AP_Mission::MISSION_RUNNING) {
-            mission.stop();
+        if (mode_auto.mission.state() == AP_Mission::MISSION_RUNNING) {
+            mode_auto.mission.stop();
         }
 #if MOUNT == ENABLED
         camera_mount.set_mode_to_default();