From 003851a5c1df90d210d01ec44ea368b9cf9a8ee2 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 13 Dec 2017 12:06:14 +1100
Subject: [PATCH] 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
---
 .../examples/SmartRTL_test/SmartRTL_test.cpp  | 21 +++++++++----------
 1 file changed, 10 insertions(+), 11 deletions(-)

diff --git a/libraries/AP_SmartRTL/examples/SmartRTL_test/SmartRTL_test.cpp b/libraries/AP_SmartRTL/examples/SmartRTL_test/SmartRTL_test.cpp
index 562eb2a81b..863b9c4984 100644
--- a/libraries/AP_SmartRTL/examples/SmartRTL_test/SmartRTL_test.cpp
+++ b/libraries/AP_SmartRTL/examples/SmartRTL_test/SmartRTL_test.cpp
@@ -12,26 +12,25 @@
 const AP_HAL::HAL &hal = AP_HAL::get_HAL();
 
 // INS and Baro declaration
-static AP_InertialSensor ins = AP_InertialSensor::create();
-static Compass compass = Compass::create();
-static AP_GPS gps = AP_GPS::create();
-static AP_Baro barometer = AP_Baro::create();
-static AP_SerialManager serial_manager = AP_SerialManager::create();
+static AP_InertialSensor ins;
+static Compass compass;
+static AP_GPS gps;
+static AP_Baro barometer;
+static AP_SerialManager serial_manager;
 
 class DummyVehicle {
 public:
-    RangeFinder rangefinder = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
-    NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rangefinder);
-    NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, rangefinder);
-    AP_AHRS_NavEKF ahrs = AP_AHRS_NavEKF::create(ins, barometer, gps, EKF2, EKF3,
-                                                 AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF);
+    RangeFinder rangefinder{serial_manager, ROTATION_PITCH_270};
+    NavEKF2 EKF2{&ahrs, barometer, rangefinder};
+    NavEKF3 EKF3{&ahrs, barometer, rangefinder};
+    AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
 };
 
 static DummyVehicle vehicle;
 
 AP_AHRS_NavEKF &ahrs(vehicle.ahrs);
 AP_SmartRTL smart_rtl{ahrs, true};
-AP_BoardConfig board_config = AP_BoardConfig::create();
+AP_BoardConfig board_config;
 
 void setup();
 void loop();