From a0ba9986a2aa811a7cde89cfde39f2131658bd7a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Aug 2019 11:21:49 +1000
Subject: [PATCH] Rover: correct compilation when AFS enabled

---
 APMrover2/Parameters.cpp | 2 +-
 APMrover2/afs_rover.cpp  | 6 ------
 APMrover2/afs_rover.h    | 2 +-
 APMrover2/failsafe.cpp   | 2 ++
 4 files changed, 4 insertions(+), 8 deletions(-)

diff --git a/APMrover2/Parameters.cpp b/APMrover2/Parameters.cpp
index 6c20e944d3..b81e15b073 100644
--- a/APMrover2/Parameters.cpp
+++ b/APMrover2/Parameters.cpp
@@ -663,7 +663,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
 ParametersG2::ParametersG2(void)
     :
 #if ADVANCED_FAILSAFE == ENABLED
-    afs(rover.mission, rover.gps),
+    afs(rover.mode_auto.mission),
 #endif
     beacon(rover.serial_manager),
     motors(rover.ServoRelayEvents),
diff --git a/APMrover2/afs_rover.cpp b/APMrover2/afs_rover.cpp
index 4e4d1cf524..7fcb2ecea7 100644
--- a/APMrover2/afs_rover.cpp
+++ b/APMrover2/afs_rover.cpp
@@ -6,12 +6,6 @@
 
 #if ADVANCED_FAILSAFE == ENABLED
 
-// Constructor
-AP_AdvancedFailsafe_Rover::AP_AdvancedFailsafe_Rover(AP_Mission &_mission, const AP_GPS &_gps) :
-    AP_AdvancedFailsafe(_mission, _gps)
-{}
-
-
 /*
   Setup radio_out values for all channels to termination values
  */
diff --git a/APMrover2/afs_rover.h b/APMrover2/afs_rover.h
index 181551a910..36dd0a0aa9 100644
--- a/APMrover2/afs_rover.h
+++ b/APMrover2/afs_rover.h
@@ -27,7 +27,7 @@
 class AP_AdvancedFailsafe_Rover : public AP_AdvancedFailsafe
 {
 public:
-    AP_AdvancedFailsafe_Rover(AP_Mission &_mission, const AP_GPS &_gps);
+    using AP_AdvancedFailsafe::AP_AdvancedFailsafe;
 
     // called to set all outputs to termination state
     void terminate_vehicle(void) override;
diff --git a/APMrover2/failsafe.cpp b/APMrover2/failsafe.cpp
index 748e46a8fc..3a7903d6ee 100644
--- a/APMrover2/failsafe.cpp
+++ b/APMrover2/failsafe.cpp
@@ -5,6 +5,8 @@
 
 #include "Rover.h"
 
+#include <stdio.h>
+
 /*
   our failsafe strategy is to detect main loop lockup and switch to
   passing inputs straight from the RC inputs to RC outputs.