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AP_NavEKF2: 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 3d2c81ff05
commit 4d4e66d825
1 changed files with 1 additions and 9 deletions
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10
libraries/AP_NavEKF2/AP_NavEKF2.h
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@ -38,13 +38,7 @@ class NavEKF2 {
friend class NavEKF2_core;
public:
static NavEKF2 create(const AP_AHRS *ahrs,
AP_Baro &baro,
const RangeFinder &rng) {
return NavEKF2{ahrs, baro, rng};
}
constexpr NavEKF2(NavEKF2 &&other) = default;
NavEKF2(const AP_AHRS *ahrs, AP_Baro &baro, const RangeFinder &rng);
/* Do not allow copies */
NavEKF2(const NavEKF2 &other) = delete;
@ -330,8 +324,6 @@ public:
void getTimingStatistics(int8_t instance, struct ekf_timing &timing);
private:
NavEKF2(const AP_AHRS *ahrs, AP_Baro &baro, const RangeFinder &rng);
uint8_t num_cores; // number of allocated cores
uint8_t primary; // current primary core
NavEKF2_core *core = nullptr;