AP_Devo_Telem: use AHRS singleton

libraries/AP_Devo_Telem/AP_Devo_Telem.cpp

@@ -25,6 +25,8 @@
 #define AP_SERIALMANAGER_DEVO_BUFSIZE_TX        32
 
 #include "AP_Devo_Telem.h"
+
+#include <AP_AHRS/AP_AHRS.h>
 #include <AP_GPS/AP_GPS.h>
 #include <AP_BattMonitor/AP_BattMonitor.h>
 
@@ -32,8 +34,7 @@ extern const AP_HAL::HAL& hal;
 
 
 //constructor
-AP_DEVO_Telem::AP_DEVO_Telem(const AP_AHRS &ahrs) :
-    _ahrs(ahrs)
+AP_DEVO_Telem::AP_DEVO_Telem()
 {
     devoPacket.header = DEVOM_SYNC_BYTE;
 }
@@ -81,6 +82,7 @@ void AP_DEVO_Telem::send_frames(uint8_t control_mode)
         return;
     }
 
+    const AP_AHRS &_ahrs = AP::ahrs();
     const AP_GPS &gps = AP::gps();
     Location loc;
 

libraries/AP_Devo_Telem/AP_Devo_Telem.h

@@ -16,13 +16,12 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL.h>
-#include <AP_AHRS/AP_AHRS.h>
 #include <AP_SerialManager/AP_SerialManager.h>
 
 class AP_DEVO_Telem {
 public:
     //constructor
-    AP_DEVO_Telem(const AP_AHRS &ahrs);
+    AP_DEVO_Telem();
 
     /* Do not allow copies */
     AP_DEVO_Telem(const AP_DEVO_Telem &other) = delete;
@@ -62,7 +61,6 @@ private:
 
     uint8_t _control_mode;
 
-    const AP_AHRS &_ahrs;                   // reference to attitude estimate
     AP_HAL::UARTDriver *_port;              // UART used to send data to receiver
     uint32_t _last_frame_ms;