AP_RangeFinder: use AP_SerialManager singleton

libraries/AP_RangeFinder/AP_RangeFinder_BLPing.cpp

@@ -53,10 +53,10 @@
 */
 AP_RangeFinder_BLPing::AP_RangeFinder_BLPing(RangeFinder::RangeFinder_State &_state,
                                              AP_RangeFinder_Params &_params,
-                                             AP_SerialManager &serial_manager,
                                              uint8_t serial_instance) :
     AP_RangeFinder_Backend(_state, _params)
 {
+    const AP_SerialManager &serial_manager = AP::serialmanager();
     uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
     if (uart != nullptr) {
         uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance));
@@ -64,9 +64,9 @@ AP_RangeFinder_BLPing::AP_RangeFinder_BLPing(RangeFinder::RangeFinder_State &_st
 }
 
 // detect if a serial port has been setup to accept rangefinder input
-bool AP_RangeFinder_BLPing::detect(AP_SerialManager &serial_manager, uint8_t serial_instance)
+bool AP_RangeFinder_BLPing::detect(uint8_t serial_instance)
 {
-    return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
+    return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
 }
 
 /*

libraries/AP_RangeFinder/AP_RangeFinder_BLPing.h

@@ -11,11 +11,10 @@ public:
     // constructor
     AP_RangeFinder_BLPing(RangeFinder::RangeFinder_State &_state,
                           AP_RangeFinder_Params &_params,
-                          AP_SerialManager &serial_manager,
                           uint8_t serial_instance);
 
     // static detection function
-    static bool detect(AP_SerialManager &serial_manager, uint8_t serial_instance);
+    static bool detect(uint8_t serial_instance);
 
     // update state
     void update(void) override;

libraries/AP_RangeFinder/AP_RangeFinder_Benewake.cpp

@@ -50,12 +50,12 @@ extern const AP_HAL::HAL& hal;
 */
 AP_RangeFinder_Benewake::AP_RangeFinder_Benewake(RangeFinder::RangeFinder_State &_state,
                                                              AP_RangeFinder_Params &_params,
-                                                             AP_SerialManager &serial_manager,
                                                              uint8_t serial_instance,
                                                              benewake_model_type model) :
     AP_RangeFinder_Backend(_state, _params),
     model_type(model)
 {
+    const AP_SerialManager &serial_manager = AP::serialmanager();
     uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
     if (uart != nullptr) {
         uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance));
@@ -67,9 +67,9 @@ AP_RangeFinder_Benewake::AP_RangeFinder_Benewake(RangeFinder::RangeFinder_State
    trying to take a reading on Serial. If we get a result the sensor is
    there.
 */
-bool AP_RangeFinder_Benewake::detect(AP_SerialManager &serial_manager, uint8_t serial_instance)
+bool AP_RangeFinder_Benewake::detect(uint8_t serial_instance)
 {
-    return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
+    return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
 }
 
 // distance returned in reading_cm, signal_ok is set to true if sensor reports a strong signal

libraries/AP_RangeFinder/AP_RangeFinder_Benewake.h

@@ -16,12 +16,11 @@ public:
     // constructor
     AP_RangeFinder_Benewake(RangeFinder::RangeFinder_State &_state,
                             AP_RangeFinder_Params &_params,
-                            AP_SerialManager &serial_manager,
                             uint8_t serial_instance,
                             benewake_model_type model);
 
     // static detection function
-    static bool detect(AP_SerialManager &serial_manager, uint8_t serial_instance);
+    static bool detect(uint8_t serial_instance);
 
     // update state
     void update(void) override;

libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp

@@ -27,10 +27,10 @@ extern const AP_HAL::HAL& hal;
 */
 AP_RangeFinder_LeddarOne::AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_State &_state,
                                                    AP_RangeFinder_Params &_params,
-                                                   AP_SerialManager &serial_manager,
                                                    uint8_t serial_instance) :
     AP_RangeFinder_Backend(_state, _params)
 {
+    const AP_SerialManager &serial_manager = AP::serialmanager();
     uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
     if (uart != nullptr) {
         uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance));
@@ -42,9 +42,9 @@ AP_RangeFinder_LeddarOne::AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_Stat
    trying to take a reading on Serial. If we get a result the sensor is
    there.
 */
-bool AP_RangeFinder_LeddarOne::detect(AP_SerialManager &serial_manager, uint8_t serial_instance)
+bool AP_RangeFinder_LeddarOne::detect(uint8_t serial_instance)
 {
-    return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
+    return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
 }
 
 // read - return last value measured by sensor

libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h

@@ -44,11 +44,10 @@ public:
     // constructor
     AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_State &_state,
                              AP_RangeFinder_Params &_params,
-                             AP_SerialManager &serial_manager,
                              uint8_t serial_instance);
 
     // static detection function
-    static bool detect(AP_SerialManager &serial_manager, uint8_t serial_instance);
+    static bool detect(uint8_t serial_instance);
 
     // update state
     void update(void) override;

libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp

@@ -27,10 +27,10 @@ extern const AP_HAL::HAL& hal;
 */
 AP_RangeFinder_LightWareSerial::AP_RangeFinder_LightWareSerial(RangeFinder::RangeFinder_State &_state,
                                                                AP_RangeFinder_Params &_params,
-                                                               AP_SerialManager &serial_manager,
                                                                uint8_t serial_instance) :
     AP_RangeFinder_Backend(_state, _params)
 {
+    const AP_SerialManager &serial_manager = AP::serialmanager();
     uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
     if (uart != nullptr) {
         uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance));
@@ -42,9 +42,9 @@ AP_RangeFinder_LightWareSerial::AP_RangeFinder_LightWareSerial(RangeFinder::Rang
    trying to take a reading on Serial. If we get a result the sensor is
    there.
 */
-bool AP_RangeFinder_LightWareSerial::detect(AP_SerialManager &serial_manager, uint8_t serial_instance)
+bool AP_RangeFinder_LightWareSerial::detect(uint8_t serial_instance)
 {
-    return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
+    return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
 }
 
 // read - return last value measured by sensor

libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h

@@ -10,11 +10,10 @@ public:
     // constructor
     AP_RangeFinder_LightWareSerial(RangeFinder::RangeFinder_State &_state,
                                    AP_RangeFinder_Params &_params,
-                                   AP_SerialManager &serial_manager,
                                    uint8_t serial_instance);
 
     // static detection function
-    static bool detect(AP_SerialManager &serial_manager, uint8_t serial_instance);
+    static bool detect(uint8_t serial_instance);
 
     // update state
     void update(void) override;

libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp

@@ -31,10 +31,10 @@ extern const AP_HAL::HAL& hal;
 */
 AP_RangeFinder_MaxsonarSerialLV::AP_RangeFinder_MaxsonarSerialLV(RangeFinder::RangeFinder_State &_state,
                                                                  AP_RangeFinder_Params &_params,
-                                                                 AP_SerialManager &serial_manager,
                                                                  uint8_t serial_instance) :
     AP_RangeFinder_Backend(_state, _params)
 {
+    const AP_SerialManager &serial_manager = AP::serialmanager();
     uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
     if (uart != nullptr) {
         uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance));
@@ -46,9 +46,9 @@ AP_RangeFinder_MaxsonarSerialLV::AP_RangeFinder_MaxsonarSerialLV(RangeFinder::Ra
    trying to take a reading on Serial. If we get a result the sensor is
    there.
 */
-bool AP_RangeFinder_MaxsonarSerialLV::detect(AP_SerialManager &serial_manager, uint8_t serial_instance)
+bool AP_RangeFinder_MaxsonarSerialLV::detect(uint8_t serial_instance)
 {
-    return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
+    return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
 }
 
 // read - return last value measured by sensor

libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h

@@ -10,11 +10,10 @@ public:
     // constructor
     AP_RangeFinder_MaxsonarSerialLV(RangeFinder::RangeFinder_State &_state,
                                    AP_RangeFinder_Params &_params,
-                                   AP_SerialManager &serial_manager,
                                    uint8_t serial_instance);
 
     // static detection function
-    static bool detect(AP_SerialManager &serial_manager, uint8_t serial_instance);
+    static bool detect(uint8_t serial_instance);
 
     // update state
     void update(void) override;

libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp

@@ -26,11 +26,11 @@ extern const AP_HAL::HAL& hal;
 // already know that we should setup the rangefinder
 AP_RangeFinder_NMEA::AP_RangeFinder_NMEA(RangeFinder::RangeFinder_State &_state,
                                          AP_RangeFinder_Params &_params,
-                                         AP_SerialManager &serial_manager,
                                          uint8_t serial_instance) :
     AP_RangeFinder_Backend(_state, _params),
     _distance_m(-1.0f)
 {
+    const AP_SerialManager &serial_manager = AP::serialmanager();
     uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
     if (uart != nullptr) {
         uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance));
@@ -38,9 +38,9 @@ AP_RangeFinder_NMEA::AP_RangeFinder_NMEA(RangeFinder::RangeFinder_State &_state,
 }
 
 // detect if a NMEA rangefinder by looking to see if the user has configured it
-bool AP_RangeFinder_NMEA::detect(AP_SerialManager &serial_manager, uint8_t serial_instance)
+bool AP_RangeFinder_NMEA::detect(uint8_t serial_instance)
 {
-    return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
+    return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
 }
 
 // update the state of the sensor

libraries/AP_RangeFinder/AP_RangeFinder_NMEA.h

@@ -25,11 +25,10 @@ public:
     // constructor
     AP_RangeFinder_NMEA(RangeFinder::RangeFinder_State &_state,
                         AP_RangeFinder_Params &_params,
-                        AP_SerialManager &serial_manager,
                         uint8_t serial_instance);
 
     // static detection function
-    static bool detect(AP_SerialManager &serial_manager, uint8_t serial_instance);
+    static bool detect(uint8_t serial_instance);
 
     // update state
     void update(void) override;

libraries/AP_RangeFinder/AP_RangeFinder_Wasp.cpp

@@ -68,11 +68,11 @@ const AP_Param::GroupInfo AP_RangeFinder_Wasp::var_info[] = {
 
 AP_RangeFinder_Wasp::AP_RangeFinder_Wasp(RangeFinder::RangeFinder_State &_state,
                                          AP_RangeFinder_Params &_params,
-                                         AP_SerialManager &serial_manager,
                                          uint8_t serial_instance) :
     AP_RangeFinder_Backend(_state, _params) {
     AP_Param::setup_object_defaults(this, var_info);
 
+    const AP_SerialManager &serial_manager = AP::serialmanager();
     uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
     if (uart != nullptr) {
         uart->begin(115200);
@@ -85,8 +85,8 @@ AP_RangeFinder_Wasp::AP_RangeFinder_Wasp(RangeFinder::RangeFinder_State &_state,
 }
 
 // detection is considered as locating a serial port
-bool AP_RangeFinder_Wasp::detect(AP_SerialManager &serial_manager, uint8_t serial_instance) {
-    return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
+bool AP_RangeFinder_Wasp::detect(uint8_t serial_instance) {
+    return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
 }
 
 // read - return last value measured by sensor

libraries/AP_RangeFinder/AP_RangeFinder_Wasp.h

@@ -11,10 +11,9 @@ class AP_RangeFinder_Wasp : public AP_RangeFinder_Backend {
 public:
     AP_RangeFinder_Wasp(RangeFinder::RangeFinder_State &_state,
                         AP_RangeFinder_Params &_params,
-                        AP_SerialManager &serial_manager,
                         uint8_t serial_instance);
 
-    static bool detect(AP_SerialManager &serial_manager, uint8_t serial_instance);
+    static bool detect(uint8_t serial_instance);
 
     void update(void) override;
 

libraries/AP_RangeFinder/AP_RangeFinder_uLanding.cpp

@@ -34,11 +34,10 @@ extern const AP_HAL::HAL& hal;
 */
 AP_RangeFinder_uLanding::AP_RangeFinder_uLanding(RangeFinder::RangeFinder_State &_state,
                                                  AP_RangeFinder_Params &_params,
-                                                 AP_SerialManager &serial_manager,
                                                  uint8_t serial_instance) :
     AP_RangeFinder_Backend(_state, _params)
 {
-    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
+    uart = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
     if (uart != nullptr) {
         uart->begin(ULANDING_BAUD, ULANDING_BUFSIZE_RX, ULANDING_BUFSIZE_TX);
     }
@@ -49,9 +48,9 @@ AP_RangeFinder_uLanding::AP_RangeFinder_uLanding(RangeFinder::RangeFinder_State
    trying to take a reading on Serial. If we get a result the sensor is
    there.
 */
-bool AP_RangeFinder_uLanding::detect(AP_SerialManager &serial_manager, uint8_t serial_instance)
+bool AP_RangeFinder_uLanding::detect(uint8_t serial_instance)
 {
-    return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
+    return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
 }
 
 /*

libraries/AP_RangeFinder/AP_RangeFinder_uLanding.h

@@ -10,11 +10,10 @@ public:
     // constructor
 	AP_RangeFinder_uLanding(RangeFinder::RangeFinder_State &_state,
                             AP_RangeFinder_Params &_params,
-                            AP_SerialManager &serial_manager,
                             uint8_t serial_instance);
 
     // static detection function
-    static bool detect(AP_SerialManager &serial_manager, uint8_t serial_instance);
+    static bool detect(uint8_t serial_instance);
 
     // update state
     void update(void) override;

libraries/AP_RangeFinder/RangeFinder.cpp

@@ -39,10 +39,11 @@
 #include "AP_RangeFinder_PWM.h"
 #include "AP_RangeFinder_BLPing.h"
 #include "AP_RangeFinder_UAVCAN.h"
-#include <AP_BoardConfig/AP_BoardConfig.h>
-#include <AP_Vehicle/AP_Vehicle_Type.h>
 
+#include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_Logger/AP_Logger.h>
+#include <AP_SerialManager/AP_SerialManager.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
 
 extern const AP_HAL::HAL &hal;
 
@@ -152,8 +153,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
 
 const AP_Param::GroupInfo *RangeFinder::backend_var_info[RANGEFINDER_MAX_INSTANCES];
 
-RangeFinder::RangeFinder(AP_SerialManager &_serial_manager) :
-    serial_manager(_serial_manager)
+RangeFinder::RangeFinder()
 {
     AP_Param::setup_object_defaults(this, var_info);
 
@@ -440,18 +440,18 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
         break;
 #endif
     case RangeFinder_TYPE_LWSER:
-        if (AP_RangeFinder_LightWareSerial::detect(serial_manager, serial_instance)) {
-            drivers[instance] = new AP_RangeFinder_LightWareSerial(state[instance], params[instance], serial_manager, serial_instance++);
+        if (AP_RangeFinder_LightWareSerial::detect(serial_instance)) {
+            drivers[instance] = new AP_RangeFinder_LightWareSerial(state[instance], params[instance], serial_instance++);
         }
         break;
     case RangeFinder_TYPE_LEDDARONE:
-        if (AP_RangeFinder_LeddarOne::detect(serial_manager, serial_instance)) {
-            drivers[instance] = new AP_RangeFinder_LeddarOne(state[instance], params[instance], serial_manager, serial_instance++);
+        if (AP_RangeFinder_LeddarOne::detect(serial_instance)) {
+            drivers[instance] = new AP_RangeFinder_LeddarOne(state[instance], params[instance], serial_instance++);
         }
         break;
     case RangeFinder_TYPE_ULANDING:
-        if (AP_RangeFinder_uLanding::detect(serial_manager, serial_instance)) {
-            drivers[instance] = new AP_RangeFinder_uLanding(state[instance], params[instance], serial_manager, serial_instance++);
+        if (AP_RangeFinder_uLanding::detect(serial_instance)) {
+            drivers[instance] = new AP_RangeFinder_uLanding(state[instance], params[instance], serial_instance++);
         }
         break;
 #if (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
@@ -468,8 +468,8 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
         }
         break;
     case RangeFinder_TYPE_MBSER:
-        if (AP_RangeFinder_MaxsonarSerialLV::detect(serial_manager, serial_instance)) {
-            drivers[instance] = new AP_RangeFinder_MaxsonarSerialLV(state[instance], params[instance], serial_manager, serial_instance++);
+        if (AP_RangeFinder_MaxsonarSerialLV::detect(serial_instance)) {
+            drivers[instance] = new AP_RangeFinder_MaxsonarSerialLV(state[instance], params[instance], serial_instance++);
         }
         break;
     case RangeFinder_TYPE_ANALOG:
@@ -479,23 +479,23 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
         }
         break;
     case RangeFinder_TYPE_NMEA:
-        if (AP_RangeFinder_NMEA::detect(serial_manager, serial_instance)) {
-            drivers[instance] = new AP_RangeFinder_NMEA(state[instance], params[instance], serial_manager, serial_instance++);
+        if (AP_RangeFinder_NMEA::detect(serial_instance)) {
+            drivers[instance] = new AP_RangeFinder_NMEA(state[instance], params[instance], serial_instance++);
         }
         break;
     case RangeFinder_TYPE_WASP:
-        if (AP_RangeFinder_Wasp::detect(serial_manager, serial_instance)) {
-            drivers[instance] = new AP_RangeFinder_Wasp(state[instance], params[instance], serial_manager, serial_instance++);
+        if (AP_RangeFinder_Wasp::detect(serial_instance)) {
+            drivers[instance] = new AP_RangeFinder_Wasp(state[instance], params[instance], serial_instance++);
         }
         break;
     case RangeFinder_TYPE_BenewakeTF02:
-        if (AP_RangeFinder_Benewake::detect(serial_manager, serial_instance)) {
-            drivers[instance] = new AP_RangeFinder_Benewake(state[instance], params[instance], serial_manager, serial_instance++, AP_RangeFinder_Benewake::BENEWAKE_TF02);
+        if (AP_RangeFinder_Benewake::detect(serial_instance)) {
+            drivers[instance] = new AP_RangeFinder_Benewake(state[instance], params[instance], serial_instance++, AP_RangeFinder_Benewake::BENEWAKE_TF02);
         }
         break;
     case RangeFinder_TYPE_BenewakeTFmini:
-        if (AP_RangeFinder_Benewake::detect(serial_manager, serial_instance)) {
-            drivers[instance] = new AP_RangeFinder_Benewake(state[instance], params[instance], serial_manager, serial_instance++, AP_RangeFinder_Benewake::BENEWAKE_TFmini);
+        if (AP_RangeFinder_Benewake::detect(serial_instance)) {
+            drivers[instance] = new AP_RangeFinder_Benewake(state[instance], params[instance], serial_instance++, AP_RangeFinder_Benewake::BENEWAKE_TFmini);
         }
         break;
     case RangeFinder_TYPE_PWM:
@@ -504,8 +504,8 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
         }
         break;
     case RangeFinder_TYPE_BLPing:
-        if (AP_RangeFinder_BLPing::detect(serial_manager, serial_instance)) {
-            drivers[instance] = new AP_RangeFinder_BLPing(state[instance], params[instance], serial_manager, serial_instance++);
+        if (AP_RangeFinder_BLPing::detect(serial_instance)) {
+            drivers[instance] = new AP_RangeFinder_BLPing(state[instance], params[instance], serial_instance++);
         }
         break;
     default:

libraries/AP_RangeFinder/RangeFinder.h

@@ -17,7 +17,7 @@
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Param/AP_Param.h>
-#include <AP_SerialManager/AP_SerialManager.h>
+#include <GCS_MAVLink/GCS.h>
 #include "AP_RangeFinder_Params.h"
 
 // Maximum number of range finder instances available on this platform
@@ -38,7 +38,7 @@ class RangeFinder
     //UAVCAN drivers are initialised in the Backend, hence list of drivers is needed there.
     friend class AP_RangeFinder_UAVCAN;
 public:
-    RangeFinder(AP_SerialManager &_serial_manager);
+    RangeFinder();
 
     /* Do not allow copies */
     RangeFinder(const RangeFinder &other) = delete;
@@ -166,7 +166,6 @@ private:
     AP_RangeFinder_Backend *drivers[RANGEFINDER_MAX_INSTANCES];
     uint8_t num_instances;
     float estimated_terrain_height;
-    AP_SerialManager &serial_manager;
     Vector3f pos_offset_zero;   // allows returning position offsets of zero for invalid requests
 
     void convert_params(void);

libraries/AP_RangeFinder/examples/RFIND_test/RFIND_test.cpp

@@ -11,7 +11,7 @@ void loop();
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
 static AP_SerialManager serial_manager;
-static RangeFinder sonar{serial_manager};
+static RangeFinder sonar;
 
 void setup()
 {