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AP_AHRS: 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
This commit is contained in:
Andrew Tridgell 2017-12-13 12:06:11 +11:00
parent 6487a22acd
commit 0ccaa5bcba
3 changed files with 45 additions and 63 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

69
libraries/AP_AHRS/AP_AHRS_DCM.h
View File

@ -23,11 +23,38 @@
class AP_AHRS_DCM : public AP_AHRS {
public:
static AP_AHRS_DCM create(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps) {
return AP_AHRS_DCM{ins, baro, gps};
}
AP_AHRS_DCM(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps)
: AP_AHRS(ins, baro, gps)
, _omega_I_sum_time(0.0f)
, _renorm_val_sum(0.0f)
, _renorm_val_count(0)
, _error_rp(1.0f)
, _error_yaw(1.0f)
, _gps_last_update(0)
, _ra_deltat(0.0f)
, _ra_sum_start(0)
, _last_declination(0.0f)
, _mag_earth(1, 0)
, _have_gps_lock(false)
, _last_lat(0)
, _last_lng(0)
, _position_offset_north(0.0f)
, _position_offset_east(0.0f)
, _have_position(false)
, _last_wind_time(0)
, _last_airspeed(0.0f)
, _last_consistent_heading(0)
, _imu1_weight(0.5f)
, _last_failure_ms(0)
, _last_startup_ms(0)
{
_dcm_matrix.identity();
constexpr AP_AHRS_DCM(AP_AHRS_DCM &&other) = default;
// these are experimentally derived from the simulator
// with large drift levels
_ki = 0.0087f;
_ki_yaw = 0.01f;
}
/* Do not allow copies */
AP_AHRS_DCM(const AP_AHRS_DCM &other) = delete;
@ -93,40 +120,6 @@ public:
// time that the AHRS has been up
uint32_t uptime_ms() const override;
protected:
AP_AHRS_DCM(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps)
: AP_AHRS(ins, baro, gps)
, _omega_I_sum_time(0.0f)
, _renorm_val_sum(0.0f)
, _renorm_val_count(0)
, _error_rp(1.0f)
, _error_yaw(1.0f)
, _gps_last_update(0)
, _ra_deltat(0.0f)
, _ra_sum_start(0)
, _last_declination(0.0f)
, _mag_earth(1, 0)
, _have_gps_lock(false)
, _last_lat(0)
, _last_lng(0)
, _position_offset_north(0.0f)
, _position_offset_east(0.0f)
, _have_position(false)
, _last_wind_time(0)
, _last_airspeed(0.0f)
, _last_consistent_heading(0)
, _imu1_weight(0.5f)
, _last_failure_ms(0)
, _last_startup_ms(0)
{
_dcm_matrix.identity();
// these are experimentally derived from the simulator
// with large drift levels
_ki = 0.0087f;
_ki_yaw = 0.01f;
}
private:
float _ki;
float _ki_yaw;

17
libraries/AP_AHRS/AP_AHRS_NavEKF.h
View File

@ -43,15 +43,9 @@ public:
FLAG_ALWAYS_USE_EKF = 0x1,
};
static AP_AHRS_NavEKF create(AP_InertialSensor &ins,
AP_Baro &baro,
AP_GPS &gps,
NavEKF2 &_EKF2, NavEKF3 &_EKF3,
Flags flags = FLAG_NONE) {
return AP_AHRS_NavEKF{ins, baro, gps, _EKF2, _EKF3, flags};
}
constexpr AP_AHRS_NavEKF(AP_AHRS_NavEKF &&other) = default;
// Constructor
AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps,
NavEKF2 &_EKF2, NavEKF3 &_EKF3, Flags flags = FLAG_NONE);
/* Do not allow copies */
AP_AHRS_NavEKF(const AP_AHRS_NavEKF &other) = delete;
@ -302,10 +296,5 @@ private:
uint32_t _last_body_odm_update_ms = 0;
void update_SITL(void);
#endif
private:
// Constructor
AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps,
NavEKF2 &_EKF2, NavEKF3 &_EKF3, Flags flags = FLAG_NONE);
};
#endif

22
libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
View File

@ -14,22 +14,22 @@ void loop();
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
static AP_BoardConfig board_config = AP_BoardConfig::create();
static AP_InertialSensor ins = AP_InertialSensor::create();
static AP_BoardConfig board_config;
static AP_InertialSensor ins;
static Compass compass = Compass::create();
static Compass compass;
static AP_GPS gps = AP_GPS::create();
static AP_Baro barometer = AP_Baro::create();
static AP_SerialManager serial_manager = AP_SerialManager::create();
static AP_GPS gps;
static AP_Baro barometer;
static AP_SerialManager serial_manager;
class DummyVehicle {
public:
RangeFinder sonar = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, sonar);
NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, sonar);
AP_AHRS_NavEKF ahrs = AP_AHRS_NavEKF::create(ins, barometer, gps, EKF2, EKF3,
AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF);
RangeFinder sonar{serial_manager, ROTATION_PITCH_270};
NavEKF2 EKF2{&ahrs, barometer, sonar};
NavEKF3 EKF3{&ahrs, barometer, sonar};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3,
AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
};
static DummyVehicle vehicle;