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AP_OpticalFlow: 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 12:06:13 +11:00
parent cd51c71857
commit 0d4dca0394
2 changed files with 11 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_OpticalFlow/OpticalFlow.h
View File

@ -30,9 +30,7 @@ class OpticalFlow
friend class OpticalFlow_backend;
public:
static OpticalFlow create(AP_AHRS_NavEKF& ahrs) { return OpticalFlow{ahrs}; }
constexpr OpticalFlow(OpticalFlow &&other) = default;
OpticalFlow(AP_AHRS_NavEKF& ahrs);
/* Do not allow copies */
OpticalFlow(const OpticalFlow &other) = delete;
@ -81,8 +79,6 @@ public:
static const struct AP_Param::GroupInfo var_info[];
private:
OpticalFlow(AP_AHRS_NavEKF& ahrs);
AP_AHRS_NavEKF &_ahrs;
OpticalFlow_backend *backend;

21
libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp
View File

@ -21,20 +21,19 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
class DummyVehicle {
public:
AP_GPS gps = AP_GPS::create();
AP_Baro barometer = AP_Baro::create();
Compass compass = Compass::create();
AP_InertialSensor ins = AP_InertialSensor::create();
AP_SerialManager serial_manager = AP_SerialManager::create();
RangeFinder sonar = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
AP_AHRS_NavEKF ahrs = AP_AHRS_NavEKF::create(ins, barometer, gps, EKF2, EKF3,
AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF);
NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, sonar);
NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, sonar);
AP_GPS gps;
AP_Baro barometer;
Compass compass;
AP_InertialSensor ins;
AP_SerialManager serial_manager;
RangeFinder sonar{serial_manager, ROTATION_PITCH_270};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
NavEKF2 EKF2{&ahrs, barometer, sonar};
NavEKF3 EKF3{&ahrs, barometer, sonar};
};
static DummyVehicle vehicle;
static OpticalFlow optflow = OpticalFlow::create(vehicle.ahrs);
static OpticalFlow optflow{vehicle.ahrs};
void setup()
{