Rover: use singletons in AP_Arming

APMrover2/AP_Arming.cpp

@@ -67,7 +67,7 @@ bool AP_Arming_Rover::fence_checks(bool report)
 {
     // check fence is initialised
     const char *fail_msg = nullptr;
-    if (!_fence.pre_arm_check(fail_msg)) {
+    if (!rover.g2.fence.pre_arm_check(fail_msg)) {
         if (report && fail_msg != nullptr) {
             gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Fence : %s", fail_msg);
         }

APMrover2/AP_Arming.h

@@ -9,12 +9,8 @@
 class AP_Arming_Rover : public AP_Arming
 {
 public:
-    AP_Arming_Rover(const AP_AHRS &ahrs_ref, Compass &compass,
+
-                    const AP_BattMonitor &battery, const AC_Fence &fence)
+    AP_Arming_Rover() : AP_Arming() { }
-        : AP_Arming(ahrs_ref, compass, battery),
-          _fence(fence)
-    {
-    }
 
     /* Do not allow copies */
     AP_Arming_Rover(const AP_Arming_Rover &other) = delete;
@@ -29,5 +25,5 @@ protected:
     bool proximity_check(bool report);
 
 private:
-    const AC_Fence& _fence;
+
 };

APMrover2/Rover.h

@@ -179,7 +179,7 @@ private:
 #endif
 
     // Arming/Disarming management class
-    AP_Arming_Rover arming{ahrs, compass, battery, g2.fence};
+    AP_Arming_Rover arming;
 
     AP_L1_Control L1_controller{ahrs, nullptr};