From 580af4a69a31478973ab945bfb43fc745c249eec Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 13 Dec 2017 12:06:14 +1100
Subject: [PATCH] AP_Scheduler: 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
---
 libraries/AP_Scheduler/AP_Scheduler.h                     | 6 +-----
 libraries/AP_Scheduler/PerfInfo.h                         | 8 +-------
 .../examples/Scheduler_test/Scheduler_test.cpp            | 6 +++---
 3 files changed, 5 insertions(+), 15 deletions(-)

diff --git a/libraries/AP_Scheduler/AP_Scheduler.h b/libraries/AP_Scheduler/AP_Scheduler.h
index a83dbda3ec..6a9efbb327 100644
--- a/libraries/AP_Scheduler/AP_Scheduler.h
+++ b/libraries/AP_Scheduler/AP_Scheduler.h
@@ -51,9 +51,7 @@
 class AP_Scheduler
 {
 public:
-    static AP_Scheduler create() { return AP_Scheduler{}; }
-
-    constexpr AP_Scheduler(AP_Scheduler &&other) = default;
+    AP_Scheduler();
 
     /* Do not allow copies */
     AP_Scheduler(const AP_Scheduler &other) = delete;
@@ -105,8 +103,6 @@ public:
     static int8_t current_task;
 
 private:
-    AP_Scheduler();
-
     // used to enable scheduler debugging
     AP_Int8 _debug;
 
diff --git a/libraries/AP_Scheduler/PerfInfo.h b/libraries/AP_Scheduler/PerfInfo.h
index 38985caec9..a794e265fe 100644
--- a/libraries/AP_Scheduler/PerfInfo.h
+++ b/libraries/AP_Scheduler/PerfInfo.h
@@ -4,10 +4,7 @@ namespace AP {
 
 class PerfInfo {
 public:
-
-    static PerfInfo create() { return PerfInfo{}; }
-
-    constexpr PerfInfo(PerfInfo &&other) = default;
+    PerfInfo() {}
 
     /* Do not allow copies */
     PerfInfo(const PerfInfo &other) = delete;
@@ -25,9 +22,6 @@ public:
     uint32_t get_stddev_time() const;
 
 private:
-
-    PerfInfo() {}
-
     uint16_t loop_count;
     uint32_t max_time; // in microseconds
     uint32_t min_time; // in microseconds
diff --git a/libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp b/libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp
index d3b0376724..ace74293bf 100644
--- a/libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp
+++ b/libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp
@@ -16,8 +16,8 @@ public:
 
 private:
 
-    AP_InertialSensor ins = AP_InertialSensor::create();
-    AP_Scheduler scheduler = AP_Scheduler::create();
+    AP_InertialSensor ins;
+    AP_Scheduler scheduler;
 
     uint32_t ins_counter;
     static const AP_Scheduler::Task scheduler_tasks[];
@@ -27,7 +27,7 @@ private:
     void five_second_call(void);
 };
 
-static AP_BoardConfig board_config = AP_BoardConfig::create();
+static AP_BoardConfig board_config;
 static SchedTest schedtest;
 
 #define SCHED_TASK(func, _interval_ticks, _max_time_micros) SCHED_TASK_CLASS(SchedTest, &schedtest, func, _interval_ticks, _max_time_micros)