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AP_SmartRTL: removed create() method for objects
See discussion here: https://github.com/ArduPilot/ardupilot/issues/7331 we were getting some uninitialised variables. While it only showed up in AP_SbusOut, it means we can't be sure it won't happen on other objects, so safest to remove the approach Thanks to assistance from Lucas, Peter and Francisco
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@ -12,26 +12,25 @@
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const AP_HAL::HAL &hal = AP_HAL::get_HAL();
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// INS and Baro declaration
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static AP_InertialSensor ins = AP_InertialSensor::create();
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static Compass compass = Compass::create();
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static AP_GPS gps = AP_GPS::create();
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static AP_Baro barometer = AP_Baro::create();
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static AP_SerialManager serial_manager = AP_SerialManager::create();
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static AP_InertialSensor ins;
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static Compass compass;
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static AP_GPS gps;
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static AP_Baro barometer;
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static AP_SerialManager serial_manager;
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class DummyVehicle {
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public:
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RangeFinder rangefinder = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
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NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rangefinder);
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NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, rangefinder);
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AP_AHRS_NavEKF ahrs = AP_AHRS_NavEKF::create(ins, barometer, gps, EKF2, EKF3,
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AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF);
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RangeFinder rangefinder{serial_manager, ROTATION_PITCH_270};
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NavEKF2 EKF2{&ahrs, barometer, rangefinder};
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NavEKF3 EKF3{&ahrs, barometer, rangefinder};
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AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
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};
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static DummyVehicle vehicle;
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AP_AHRS_NavEKF &ahrs(vehicle.ahrs);
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AP_SmartRTL smart_rtl{ahrs, true};
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AP_BoardConfig board_config = AP_BoardConfig::create();
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AP_BoardConfig board_config;
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void setup();
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void loop();
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