Plane: use baro singleton

ArduPlane/AP_Arming.h

@@ -8,9 +8,9 @@
 class AP_Arming_Plane : public AP_Arming
 {
 public:
-    AP_Arming_Plane(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
+    AP_Arming_Plane(const AP_AHRS &ahrs_ref, Compass &compass,
                     const AP_BattMonitor &battery)
-        : AP_Arming(ahrs_ref, baro, compass, battery)
+        : AP_Arming(ahrs_ref, compass, battery)
     {
         AP_Param::setup_object_defaults(this, var_info);
     }

ArduPlane/GCS_Mavlink.cpp

@@ -473,12 +473,12 @@ bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
 
     case MSG_RAW_IMU2:
         CHECK_PAYLOAD_SIZE(SCALED_PRESSURE);
-        send_scaled_pressure(plane.barometer);
+        send_scaled_pressure();
         break;
 
     case MSG_RAW_IMU3:
         CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
-        send_sensor_offsets(plane.ins, plane.compass, plane.barometer);
+        send_sensor_offsets(plane.ins, plane.compass);
         break;
 
     case MSG_FENCE_STATUS:

ArduPlane/Log.cpp

@@ -297,7 +297,7 @@ void Plane::Log_Write_RC(void)
 void Plane::Log_Write_Baro(void)
 {
     if (!ahrs.have_ekf_logging()) {
-        DataFlash.Log_Write_Baro(barometer);
+        DataFlash.Log_Write_Baro();
     }
 }
 

ArduPlane/Plane.h

@@ -122,7 +122,7 @@
 class AP_AdvancedFailsafe_Plane : public AP_AdvancedFailsafe
 {
 public:
-    AP_AdvancedFailsafe_Plane(AP_Mission &_mission, AP_Baro &_baro, const AP_GPS &_gps, const RCMapper &_rcmap);
+    AP_AdvancedFailsafe_Plane(AP_Mission &_mission, const AP_GPS &_gps, const RCMapper &_rcmap);
 
     // called to set all outputs to termination state
     void terminate_vehicle(void);
@@ -214,11 +214,11 @@ private:
 
 // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
-    NavEKF2 EKF2{&ahrs, barometer, rangefinder};
-    NavEKF3 EKF3{&ahrs, barometer, rangefinder};
-    AP_AHRS_NavEKF ahrs{ins, barometer, EKF2, EKF3};
+    NavEKF2 EKF2{&ahrs, rangefinder};
+    NavEKF3 EKF3{&ahrs, rangefinder};
+    AP_AHRS_NavEKF ahrs{ins, EKF2, EKF3};
 #else
-    AP_AHRS_DCM ahrs{ins, barometer};
+    AP_AHRS_DCM ahrs{ins};
 #endif
 
     AP_TECS TECS_controller{ahrs, aparm, landing, g2.soaring_controller};
@@ -632,7 +632,7 @@ private:
     AP_Avoidance_Plane avoidance_adsb{ahrs, adsb};
 
     // Outback Challenge Failsafe Support
-    AP_AdvancedFailsafe_Plane afs {mission, barometer, gps, rcmap};
+    AP_AdvancedFailsafe_Plane afs {mission, gps, rcmap};
 
     /*
       meta data to support counting the number of circles in a loiter
@@ -752,7 +752,7 @@ private:
 #endif
 
     // Arming/Disarming mangement class
-    AP_Arming_Plane arming{ahrs, barometer, compass, battery};
+    AP_Arming_Plane arming{ahrs, compass, battery};
 
     AP_Param param_loader {var_info};
 

ArduPlane/afs_plane.cpp

@@ -5,8 +5,8 @@
 #include "Plane.h"
 
 // Constructor
-AP_AdvancedFailsafe_Plane::AP_AdvancedFailsafe_Plane(AP_Mission &_mission, AP_Baro &_baro, const AP_GPS &_gps, const RCMapper &_rcmap) :
-    AP_AdvancedFailsafe(_mission, _baro, _gps, _rcmap)
+AP_AdvancedFailsafe_Plane::AP_AdvancedFailsafe_Plane(AP_Mission &_mission, const AP_GPS &_gps, const RCMapper &_rcmap) :
+    AP_AdvancedFailsafe(_mission, _gps, _rcmap)
 {}