Copter: make AutoTune object private state to ModeAutoTune

ArduCopter/Copter.h

@@ -918,7 +918,6 @@ private:
     ModeAuto mode_auto;
 #endif
 #if AUTOTUNE_ENABLED == ENABLED
-    AutoTune autotune;
     ModeAutoTune mode_autotune;
 #endif
 #if MODE_BRAKE_ENABLED == ENABLED

ArduCopter/Parameters.cpp

@@ -1084,7 +1084,7 @@ ParametersG2::ParametersG2(void)
     ,user_parameters()
 #endif
 #if AUTOTUNE_ENABLED == ENABLED
-    ,autotune_ptr(&copter.autotune)
+    ,autotune_ptr(&copter.mode_autotune.autotune)
 #endif
 #if MODE_SYSTEMID_ENABLED == ENABLED
     ,mode_systemid_ptr(&copter.mode_systemid)

ArduCopter/mode.h

@@ -548,6 +548,9 @@ protected:
 
 class ModeAutoTune : public Mode {
 
+    // ParametersG2 sets a pointer within our autotune object:
+    friend class ParametersG2;
+
 public:
     // inherit constructor
     using Mode::Mode;
@@ -569,6 +572,11 @@ protected:
 
     const char *name() const override { return "AUTOTUNE"; }
     const char *name4() const override { return "ATUN"; }
+
+private:
+
+    AutoTune autotune;
+
 };
 #endif
 

ArduCopter/mode_autotune.cpp

@@ -125,28 +125,28 @@ bool AutoTune::position_ok()
 */
 bool ModeAutoTune::init(bool ignore_checks)
 {
-    return copter.autotune.init();
+    return autotune.init();
 }
 
 
 void ModeAutoTune::run()
 {
-    copter.autotune.run();
+    autotune.run();
 }
 
 void ModeAutoTune::save_tuning_gains()
 {
-    copter.autotune.save_tuning_gains();
+    autotune.save_tuning_gains();
 }
 
 void ModeAutoTune::stop()
 {
-    copter.autotune.stop();
+    autotune.stop();
 }
 
 void ModeAutoTune::reset()
 {
-    copter.autotune.reset();
+    autotune.reset();
 }
 
 #endif  // AUTOTUNE_ENABLED == ENABLED