mirror of https://github.com/ArduPilot/ardupilot
Sub: 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
parent
30e224e705
commit
4c9f48244e
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@ -4,12 +4,12 @@
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class AP_Arming_Sub : public AP_Arming {
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public:
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static AP_Arming_Sub create(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass, const AP_BattMonitor &battery) {
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return AP_Arming_Sub{ahrs_ref, baro, compass, battery};
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AP_Arming_Sub(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
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const AP_BattMonitor &battery)
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: AP_Arming(ahrs_ref, baro, compass, battery)
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{
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}
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constexpr AP_Arming_Sub(AP_Arming_Sub &&other) = default;
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/* Do not allow copies */
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AP_Arming_Sub(const AP_Arming_Sub &other) = delete;
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AP_Arming_Sub &operator=(const AP_Baro&) = delete;
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@ -18,12 +18,6 @@ public:
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bool pre_arm_checks(bool report) override;
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protected:
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AP_Arming_Sub(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
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const AP_BattMonitor &battery)
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: AP_Arming(ahrs_ref, baro, compass, battery)
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{
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}
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bool ins_checks(bool report) override;
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enum HomeState home_status() const override;
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};
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@ -24,7 +24,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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constructor for main Sub class
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*/
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Sub::Sub(void)
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: DataFlash(DataFlash_Class::create(fwver.fw_string, g.log_bitmask)),
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: DataFlash(fwver.fw_string, g.log_bitmask),
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control_mode(MANUAL),
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motors(MAIN_LOOP_RATE),
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scaleLongDown(1),
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@ -146,10 +146,10 @@ private:
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ParametersG2 g2;
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// main loop scheduler
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AP_Scheduler scheduler = AP_Scheduler::create();
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AP_Scheduler scheduler;
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// AP_Notify instance
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AP_Notify notify = AP_Notify::create();
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AP_Notify notify;
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// primary input control channels
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RC_Channel *channel_roll;
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@ -162,16 +162,16 @@ private:
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// Dataflash
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DataFlash_Class DataFlash;
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AP_GPS gps = AP_GPS::create();
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AP_GPS gps;
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AP_LeakDetector leak_detector = AP_LeakDetector::create();
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AP_LeakDetector leak_detector;
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TSYS01 celsius;
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AP_Baro barometer = AP_Baro::create();
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Compass compass = Compass::create();
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AP_InertialSensor ins = AP_InertialSensor::create();
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AP_Baro barometer;
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Compass compass;
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AP_InertialSensor ins;
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RangeFinder rangefinder = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
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RangeFinder rangefinder{serial_manager, ROTATION_PITCH_270};
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struct {
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bool enabled:1;
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bool alt_healthy:1; // true if we can trust the altitude from the rangefinder
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@ -181,27 +181,27 @@ private:
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} rangefinder_state = { false, false, 0, 0 };
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#if RPM_ENABLED == ENABLED
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AP_RPM rpm_sensor = AP_RPM::create();
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AP_RPM rpm_sensor;
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#endif
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// Inertial Navigation EKF
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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, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF);
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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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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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SITL::SITL sitl;
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#endif
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// Mission library
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AP_Mission mission = AP_Mission::create(ahrs,
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AP_Mission mission{ahrs,
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FUNCTOR_BIND_MEMBER(&Sub::start_command, bool, const AP_Mission::Mission_Command &),
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FUNCTOR_BIND_MEMBER(&Sub::verify_command_callback, bool, const AP_Mission::Mission_Command &),
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FUNCTOR_BIND_MEMBER(&Sub::exit_mission, void));
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FUNCTOR_BIND_MEMBER(&Sub::exit_mission, void)};
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// Optical flow sensor
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#if OPTFLOW == ENABLED
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OpticalFlow optflow = OpticalFlow::create(ahrs);
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OpticalFlow optflow{ahrs};
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#endif
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// gnd speed limit required to observe optical flow sensor limits
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@ -213,7 +213,7 @@ private:
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// system time in milliseconds of last recorded yaw reset from ekf
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uint32_t ekfYawReset_ms = 0;
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AP_SerialManager serial_manager = AP_SerialManager::create();
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AP_SerialManager serial_manager;
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// GCS selection
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GCS_Sub _gcs; // avoid using this; use gcs()
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@ -252,15 +252,15 @@ private:
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mode_reason_t prev_control_mode_reason = MODE_REASON_UNKNOWN;
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#if RCMAP_ENABLED == ENABLED
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RCMapper rcmap = RCMapper::create();
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RCMapper rcmap;
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#endif
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// board specific config
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AP_BoardConfig BoardConfig = AP_BoardConfig::create();
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AP_BoardConfig BoardConfig;
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#if HAL_WITH_UAVCAN
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// board specific config for CAN bus
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AP_BoardConfig_CAN BoardConfig_CAN = AP_BoardConfig_CAN::create();
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AP_BoardConfig_CAN BoardConfig_CAN;
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#endif
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// Failsafe
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@ -327,9 +327,9 @@ private:
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uint32_t nav_delay_time_start;
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// Battery Sensors
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AP_BattMonitor battery = AP_BattMonitor::create();
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AP_BattMonitor battery;
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AP_Arming_Sub arming = AP_Arming_Sub::create(ahrs, barometer, compass, battery);
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AP_Arming_Sub arming{ahrs, barometer, compass, battery};
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// Altitude
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// The cm/s we are moving up or down based on filtered data - Positive = UP
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@ -347,7 +347,7 @@ private:
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bool input_hold_engaged;
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// loop performance monitoring:
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AP::PerfInfo perf_info = AP::PerfInfo::create();
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AP::PerfInfo perf_info;
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// 3D Location vectors
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// Current location of the Sub (altitude is relative to home)
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@ -408,39 +408,39 @@ private:
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uint16_t mainLoop_count;
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// Reference to the relay object
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AP_Relay relay = AP_Relay::create();
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AP_Relay relay;
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// handle repeated servo and relay events
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AP_ServoRelayEvents ServoRelayEvents = AP_ServoRelayEvents::create(relay);
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AP_ServoRelayEvents ServoRelayEvents{relay};
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// Camera
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#if CAMERA == ENABLED
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AP_Camera camera = AP_Camera::create(&relay, MASK_LOG_CAMERA, current_loc, ahrs);
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AP_Camera camera{&relay, MASK_LOG_CAMERA, current_loc, ahrs};
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#endif
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// Camera/Antenna mount tracking and stabilisation stuff
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#if MOUNT == ENABLED
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// current_loc uses the baro/gps soloution for altitude rather than gps only.
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AP_Mount camera_mount = AP_Mount::create(ahrs, current_loc);
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AP_Mount camera_mount{ahrs, current_loc};
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#endif
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// AC_Fence library to reduce fly-aways
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#if AC_FENCE == ENABLED
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AC_Fence fence = AC_Fence::create(ahrs);
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AC_Fence fence{ahrs};
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#endif
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#if AVOIDANCE_ENABLED == ENABLED
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AC_Avoid avoid = AC_Avoid::create(ahrs, inertial_nav, fence, g2.proximity, &g2.beacon);
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AC_Avoid avoid{ahrs, inertial_nav, fence, g2.proximity, &g2.beacon};
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#endif
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// Rally library
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#if AC_RALLY == ENABLED
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AP_Rally rally = AP_Rally::create(ahrs);
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AP_Rally rally{ahrs};
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#endif
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// terrain handling
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#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
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AP_Terrain terrain = AP_Terrain::create(ahrs, mission, rally);
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AP_Terrain terrain{ahrs, mission, rally};
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#endif
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// use this to prevent recursion during sensor init
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