From 2039fadfb786eb7a273a7c754e9943013d7a1513 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 18 Feb 2019 20:33:09 +1100
Subject: [PATCH] AP_Rally: do not take reference to AHRS in constructor

---
 libraries/AP_Rally/AP_Rally.cpp | 10 +++++-----
 libraries/AP_Rally/AP_Rally.h   | 10 +++-------
 2 files changed, 8 insertions(+), 12 deletions(-)

diff --git a/libraries/AP_Rally/AP_Rally.cpp b/libraries/AP_Rally/AP_Rally.cpp
index 7e159c3a0c..27fe045f74 100644
--- a/libraries/AP_Rally/AP_Rally.cpp
+++ b/libraries/AP_Rally/AP_Rally.cpp
@@ -2,7 +2,9 @@
 /// @brief   Handles rally point storage and retrieval.
 #include "AP_Rally.h"
 
+#include <AP_AHRS/AP_AHRS.h>
 #include <AP_Logger/AP_Logger.h>
+#include <StorageManager/StorageManager.h>
 
 // storage object
 StorageAccess AP_Rally::_storage(StorageManager::StorageRally);
@@ -47,9 +49,7 @@ const AP_Param::GroupInfo AP_Rally::var_info[] = {
 };
 
 // constructor
-AP_Rally::AP_Rally(AP_AHRS &ahrs) 
-    : _ahrs(ahrs)
-    , _last_change_time_ms(0xFFFFFFFF)
+AP_Rally::AP_Rally()
 {
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     if (_singleton != nullptr) {
@@ -107,7 +107,7 @@ Location AP_Rally::rally_location_to_location(const RallyLocation &rally_loc) co
     //Currently can't do true AGL on the APM.  Relative altitudes are
     //relative to HOME point's altitude.  Terrain on the board is inbound
     //for the PX4, though.  This line will need to be updated when that happens:
-    ret.alt = (rally_loc.alt*100UL) + _ahrs.get_home().alt;
+    ret.alt = (rally_loc.alt*100UL) + AP::ahrs().get_home().alt;
 
     ret.lat = rally_loc.lat;
     ret.lng = rally_loc.lng;
@@ -148,7 +148,7 @@ Location AP_Rally::calc_best_rally_or_home_location(const Location &current_loc,
 {
     RallyLocation ral_loc = {};
     Location return_loc = {};
-    const struct Location &home_loc = _ahrs.get_home();
+    const struct Location &home_loc = AP::ahrs().get_home();
     
     // no valid rally point, return home position
     return_loc = home_loc;
diff --git a/libraries/AP_Rally/AP_Rally.h b/libraries/AP_Rally/AP_Rally.h
index 72cf452e0e..cbe44fd535 100644
--- a/libraries/AP_Rally/AP_Rally.h
+++ b/libraries/AP_Rally/AP_Rally.h
@@ -15,9 +15,8 @@
 #pragma once
 
 #include <AP_Common/AP_Common.h>
+#include <AP_Common/Location.h>
 #include <AP_Param/AP_Param.h>
-#include <AP_AHRS/AP_AHRS.h>
-#include <StorageManager/StorageManager.h>
 
 #define AP_RALLY_WP_SIZE        15  // eeprom size of rally points
 
@@ -36,7 +35,7 @@ struct PACKED RallyLocation {
 /// @brief    Object managing Rally Points
 class AP_Rally {
 public:
-    AP_Rally(AP_AHRS &ahrs);
+    AP_Rally();
 
     /* Do not allow copies */
     AP_Rally(const AP_Rally &other) = delete;
@@ -73,15 +72,12 @@ private:
 
     static StorageAccess _storage;
 
-    // internal variables
-    const AP_AHRS& _ahrs; // used only for home position
-
     // parameters
     AP_Int8  _rally_point_total_count;
     AP_Float _rally_limit_km;
     AP_Int8  _rally_incl_home;
 
-    uint32_t _last_change_time_ms;
+    uint32_t _last_change_time_ms = 0xFFFFFFFF;
 };
 
 namespace AP {