Stop passing serial manager to GPS init

AntennaTracker/system.cpp

@@ -30,7 +30,7 @@ void Tracker::init_ardupilot()
 
     // GPS Initialization
     gps.set_log_gps_bit(MASK_LOG_GPS);
-    gps.init(serial_manager);
+    gps.init();
 
     ahrs.init();
     ahrs.set_fly_forward(false);

ArduCopter/system.cpp

@@ -84,7 +84,7 @@ void Copter::init_ardupilot()
 
     // Do GPS init
     gps.set_log_gps_bit(MASK_LOG_GPS);
-    gps.init(serial_manager);
+    gps.init();
 
     AP::compass().set_log_bit(MASK_LOG_COMPASS);
     AP::compass().init();

ArduPlane/system.cpp

@@ -74,7 +74,7 @@ void Plane::init_ardupilot()
 
     // GPS Initialization
     gps.set_log_gps_bit(MASK_LOG_GPS);
-    gps.init(serial_manager);
+    gps.init();
 
     init_rc_in();               // sets up rc channels from radio
 

ArduSub/system.cpp

@@ -68,7 +68,7 @@ void Sub::init_ardupilot()
 
     // Do GPS init
     gps.set_log_gps_bit(MASK_LOG_GPS);
-    gps.init(serial_manager);
+    gps.init();
 
     AP::compass().set_log_bit(MASK_LOG_COMPASS);
     AP::compass().init();

Blimp/system.cpp

@@ -58,7 +58,7 @@ void Blimp::init_ardupilot()
 
     // Do GPS init
     gps.set_log_gps_bit(MASK_LOG_GPS);
-    gps.init(serial_manager);
+    gps.init();
 
     AP::compass().set_log_bit(MASK_LOG_COMPASS);
     AP::compass().init();

Rover/system.cpp

@@ -67,7 +67,7 @@ void Rover::init_ardupilot()
 
     // Do GPS init
     gps.set_log_gps_bit(MASK_LOG_GPS);
-    gps.init(serial_manager);
+    gps.init();
 
     ins.set_log_raw_bit(MASK_LOG_IMU_RAW);
 

Tools/AP_Periph/AP_Periph.cpp

@@ -148,7 +148,7 @@ void AP_Periph_FW::init()
         #define MASK_LOG_GPS (1<<2)
         gps.set_log_gps_bit(MASK_LOG_GPS);
 #endif
-        gps.init(serial_manager);
+        gps.init();
     }
 #endif
 

libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp

@@ -61,7 +61,7 @@ void setup(void)
     if (!AP::compass().read()) {
         hal.console->printf("No compass detected\n");
     }
-    AP::gps().init(serial_manager);
+    AP::gps().init();
 }
 
 void loop(void)

libraries/AP_GPS/AP_GPS.cpp

@@ -464,7 +464,7 @@ bool AP_GPS::needs_uart(GPS_Type type) const
 }
 
 /// Startup initialisation.
-void AP_GPS::init(const AP_SerialManager& serial_manager)
+void AP_GPS::init()
 {
     // Set new primary param based on old auto_switch use second option
     if ((_auto_switch.get() == 3) && !_primary.configured()) {
@@ -473,6 +473,7 @@ void AP_GPS::init(const AP_SerialManager& serial_manager)
     }
 
     // search for serial ports with gps protocol
+    const auto &serial_manager = AP::serialmanager();
     uint8_t uart_idx = 0;
     for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) {
         if (needs_uart((GPS_Type)_type[i].get())) {

libraries/AP_GPS/AP_GPS.h

@@ -243,7 +243,7 @@ class AP_GPS
     };
 
     /// Startup initialisation.
-    void init(const class AP_SerialManager& serial_manager);
+    void init();
 
     /// Update GPS state based on possible bytes received from the module.
     /// This routine must be called periodically (typically at 10Hz or

libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.cpp

@@ -66,7 +66,7 @@ void setup()
 
     // Initialize the UART for GPS system
     serial_manager.init();
-    gps.init(serial_manager);
+    gps.init();
 }
 
 

libraries/AP_Module/examples/ModuleTest/ModuleTest.cpp

@@ -39,7 +39,7 @@ void setup(void)
     baro.init();
     ahrs.init();
 
-    gps.init(serial_manager);
+    gps.init();
 }
 
 void loop(void)

libraries/AP_NMEA_Output/examples/NMEA_Output/nmea_output.cpp

@@ -74,7 +74,7 @@ void setup(void)
     if(!AP::compass().read()) {
         hal.console->printf("No compass detected\n");
     }
-    AP::gps().init(serial_manager);
+    AP::gps().init();
     AP::rtc().set_utc_usec(1546300800000, AP_RTC::source_type::SOURCE_GPS);
 }