AP_Baro: stop using two pointers for AUAV pressure sensor

Author: peterbarker

libraries/AP_Baro/AP_Baro_AUAV.cpp

@@ -22,7 +22,6 @@ AP_Baro_AUAV::AP_Baro_AUAV(AP_Baro &baro, AP_HAL::Device *_dev)
     : AP_Baro_Backend(baro)
     , dev(_dev)
 {
-    i2c_dev = (AP_HAL::I2CDevice*)dev;
 }
 
 AP_Baro_Backend *AP_Baro_AUAV::probe(AP_Baro &baro, AP_HAL::Device &_dev)
@@ -37,14 +36,14 @@ AP_Baro_Backend *AP_Baro_AUAV::probe(AP_Baro &baro, AP_HAL::Device &_dev)
 
 bool AP_Baro_AUAV::init()
 {
-    if (!i2c_dev) {
+    if (!dev) {
         return false;
     }
 
     {
         // Take semaphore for i2c functions
-        WITH_SEMAPHORE(i2c_dev->get_semaphore());
-        i2c_dev->set_retries(10);
+        WITH_SEMAPHORE(dev->get_semaphore());
+        dev->set_retries(10);
 
         // Request a measurement
         if (!sensor.measure()) {
@@ -61,10 +60,10 @@ bool AP_Baro_AUAV::init()
 
     // Register sensor and set dev-id
     instance = _frontend.register_sensor();
-    i2c_dev->set_device_type(DEVTYPE_BARO_AUAV);
-    set_bus_id(instance, i2c_dev->get_bus_id());
+    dev->set_device_type(DEVTYPE_BARO_AUAV);
+    set_bus_id(instance, dev->get_bus_id());
 
-    i2c_dev->register_periodic_callback(40000,
+    dev->register_periodic_callback(40000,
                                      FUNCTOR_BIND_MEMBER(&AP_Baro_AUAV::timer, void));
 
     return true;

libraries/AP_Baro/AP_Baro_AUAV.h

@@ -34,9 +34,8 @@ class AP_Baro_AUAV : public AP_Baro_Backend {
     void timer();
 
     AP_HAL::Device *dev;
-    AP_HAL::I2CDevice *i2c_dev;
 
-    AUAV_Pressure_sensor sensor { i2c_dev, AUAV_Pressure_sensor::Type::Absolute };
+    AUAV_Pressure_sensor sensor { dev, AUAV_Pressure_sensor::Type::Absolute };
 
     uint8_t instance;