AP_TempCalibration: do not take reference to ins

libraries/AP_TempCalibration/AP_TempCalibration.cpp

@@ -77,11 +77,6 @@ const AP_Param::GroupInfo AP_TempCalibration::var_info[] = {
     AP_GROUPEND
 };
 
-AP_TempCalibration::AP_TempCalibration(AP_InertialSensor &_ins) :
-    ins(_ins)
-{
-}
-
 /*
   calculate the correction given an exponent and a temperature 
 
@@ -178,7 +173,7 @@ void AP_TempCalibration::learn_calibration(void)
 
     // if we have any movement then we reset learning
     if (learn_values == nullptr ||
-        !ins.is_still()) {
+        !AP::ins().is_still()) {
         debug("learn reset\n");
         setup_learning();
         if (learn_values == nullptr) {

libraries/AP_TempCalibration/AP_TempCalibration.h

@@ -26,14 +26,20 @@
 class AP_TempCalibration
 {
 public:
-    // constructor
-    AP_TempCalibration(AP_InertialSensor &ins);
+    // constructor.  This remains because construction of Copter's g2
+    // object becomes problematic if we don't have at least one object
+    // to initialise
+    AP_TempCalibration() {}
 
     // settable parameters
     static const struct AP_Param::GroupInfo var_info[];
 
     void update(void);
 
+    /* Do not allow copies */
+    AP_TempCalibration(const AP_TempCalibration &other) = delete;
+    AP_TempCalibration &operator=(const AP_TempCalibration&) = delete;
+
     enum {
         TC_DISABLED = 0,
         TC_ENABLE_USE = 1,
@@ -41,7 +47,6 @@ public:
     };
     
 private:
-    AP_InertialSensor &ins;
 
     AP_Int8 enabled;
     AP_Int8 temp_min;