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APM_Control: 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 12:06:12 +11:00
parent 5f4680bf2c
commit 1dac512567
4 changed files with 24 additions and 50 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
libraries/APM_Control/AP_PitchController.h
View File

@ -9,13 +9,14 @@
class AP_PitchController {
public:
static AP_PitchController create(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms,
DataFlash_Class &_dataflash) {
return AP_PitchController{ahrs, parms, _dataflash};
AP_PitchController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash)
: aparm(parms)
, autotune(gains, AP_AutoTune::AUTOTUNE_PITCH, parms, _dataflash)
, _ahrs(ahrs)
{
AP_Param::setup_object_defaults(this, var_info);
}
constexpr AP_PitchController(AP_PitchController &&other) = default;
/* Do not allow copies */
AP_PitchController(const AP_PitchController &other) = delete;
AP_PitchController &operator=(const AP_PitchController&) = delete;
@ -38,14 +39,6 @@ public:
AP_Float &kFF(void) { return gains.FF; }
private:
AP_PitchController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash)
: aparm(parms)
, autotune(gains, AP_AutoTune::AUTOTUNE_PITCH, parms, _dataflash)
, _ahrs(ahrs)
{
AP_Param::setup_object_defaults(this, var_info);
}
const AP_Vehicle::FixedWing &aparm;
AP_AutoTune::ATGains gains;
AP_AutoTune autotune;

19
libraries/APM_Control/AP_RollController.h
View File

@ -9,13 +9,14 @@
class AP_RollController {
public:
static AP_RollController create(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms,
DataFlash_Class &_dataflash) {
return AP_RollController{ahrs, parms, _dataflash};
AP_RollController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash)
: aparm(parms)
, autotune(gains, AP_AutoTune::AUTOTUNE_ROLL, parms, _dataflash)
, _ahrs(ahrs)
{
AP_Param::setup_object_defaults(this, var_info);
}
constexpr AP_RollController(AP_RollController &&other) = default;
/* Do not allow copies */
AP_RollController(const AP_RollController &other) = delete;
AP_RollController &operator=(const AP_RollController&) = delete;
@ -45,14 +46,6 @@ public:
AP_Float &kFF(void) { return gains.FF; }
private:
AP_RollController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash)
: aparm(parms)
, autotune(gains, AP_AutoTune::AUTOTUNE_ROLL, parms, _dataflash)
, _ahrs(ahrs)
{
AP_Param::setup_object_defaults(this, var_info);
}
const AP_Vehicle::FixedWing &aparm;
AP_AutoTune::ATGains gains;
AP_AutoTune autotune;

14
libraries/APM_Control/AP_SteerController.h
View File

@ -7,12 +7,12 @@
class AP_SteerController {
public:
static AP_SteerController create(AP_AHRS &ahrs) {
return AP_SteerController{ahrs};
AP_SteerController(AP_AHRS &ahrs)
: _ahrs(ahrs)
{
AP_Param::setup_object_defaults(this, var_info);
}
constexpr AP_SteerController(AP_SteerController &&other) = default;
/* Do not allow copies */
AP_SteerController(const AP_SteerController &other) = delete;
AP_SteerController &operator=(const AP_SteerController&) = delete;
@ -53,12 +53,6 @@ public:
}
private:
AP_SteerController(AP_AHRS &ahrs)
: _ahrs(ahrs)
{
AP_Param::setup_object_defaults(this, var_info);
}
AP_Float _tau;
AP_Float _K_FF;
AP_Float _K_P;

22
libraries/APM_Control/AP_YawController.h
View File

@ -8,12 +8,16 @@
class AP_YawController {
public:
static AP_YawController create(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms) {
return AP_YawController{ahrs, parms};
AP_YawController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms)
: aparm(parms)
, _ahrs(ahrs)
{
AP_Param::setup_object_defaults(this, var_info);
_pid_info.desired = 0;
_pid_info.FF = 0;
_pid_info.P = 0;
}
constexpr AP_YawController(AP_YawController &&other) = default;
/* Do not allow copies */
AP_YawController(const AP_YawController &other) = delete;
AP_YawController &operator=(const AP_YawController&) = delete;
@ -27,16 +31,6 @@ public:
static const struct AP_Param::GroupInfo var_info[];
private:
AP_YawController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms)
: aparm(parms)
, _ahrs(ahrs)
{
AP_Param::setup_object_defaults(this, var_info);
_pid_info.desired = 0;
_pid_info.FF = 0;
_pid_info.P = 0;
}
const AP_Vehicle::FixedWing &aparm;
AP_Float _K_A;
AP_Float _K_I;