AP_Logger: remove rally argument from Write_Rally - use singleton

libraries/AP_Logger/AP_Logger.h

@@ -138,7 +138,7 @@ public:
                         const AP_Motors &motors,
                         const AC_AttitudeControl &attitude_control,
                         const AC_PosControl &pos_control);
-    void Write_Rally(const AP_Rally &rally);
+    void Write_Rally();
     void Write_VisualOdom(float time_delta, const Vector3f &angle_delta, const Vector3f &position_delta, float confidence);
     void Write_AOA_SSA(AP_AHRS &ahrs);
     void Write_Beacon(AP_Beacon &beacon);

libraries/AP_Logger/LogFile.cpp

@@ -1608,15 +1608,19 @@ void AP_Logger::Write_Rate(const AP_AHRS_View *ahrs,
 }
 
 // Write rally points
-void AP_Logger::Write_Rally(const AP_Rally &rally)
+void AP_Logger::Write_Rally()
 {
+    const AP_Rally *rally = AP::rally();
+    if (rally == nullptr) {
+        return;
+    }
     RallyLocation rally_point;
-    for (uint8_t i=0; i<rally.get_rally_total(); i++) {
-        if (rally.get_rally_point_with_index(i, rally_point)) {
+    for (uint8_t i=0; i<rally->get_rally_total(); i++) {
+        if (rally->get_rally_point_with_index(i, rally_point)) {
             struct log_Rally pkt_rally = {
                 LOG_PACKET_HEADER_INIT(LOG_RALLY_MSG),
                 time_us         : AP_HAL::micros64(),
-                total           : rally.get_rally_total(),
+                total           : rally->get_rally_total(),
                 sequence        : i,
                 latitude        : rally_point.lat,
                 longitude       : rally_point.lng,