global: use static method to construct AP_SerialManager

APMrover2/Rover.h

@@ -195,8 +195,9 @@ private:
     SITL::SITL sitl;
 #endif
 
+    AP_SerialManager serial_manager = AP_SerialManager::create();
+
     // GCS handling
-    AP_SerialManager serial_manager;
     GCS_Rover _gcs;  // avoid using this; use gcs()
     GCS_Rover &gcs() { return _gcs; }
 

AntennaTracker/Tracker.h

@@ -139,7 +139,7 @@ private:
     bool yaw_servo_out_filt_init = false;
     bool pitch_servo_out_filt_init = false;
 
-    AP_SerialManager serial_manager;
+    AP_SerialManager serial_manager = AP_SerialManager::create();
     GCS_Tracker _gcs; // avoid using this; use gcs()
     GCS_Tracker &gcs() { return _gcs; }
 

ArduCopter/Copter.h

@@ -246,8 +246,9 @@ private:
     uint32_t ekfYawReset_ms = 0;
     int8_t ekf_primary_core;
 
+    AP_SerialManager serial_manager = AP_SerialManager::create();
+
     // GCS selection
-    AP_SerialManager serial_manager;
     GCS_Copter _gcs; // avoid using this; use gcs()
     GCS_Copter &gcs() { return _gcs; }
 

ArduPlane/Plane.h

@@ -254,9 +254,9 @@ private:
     // external failsafe boards during baro and airspeed calibration
     bool in_calibration;
 
+    AP_SerialManager serial_manager = AP_SerialManager::create();
 
     // GCS selection
-    AP_SerialManager serial_manager;
     GCS_Plane _gcs; // avoid using this; use gcs()
     GCS_Plane &gcs() { return _gcs; }
 

ArduSub/Sub.h

@@ -212,9 +212,9 @@ private:
     // system time in milliseconds of last recorded yaw reset from ekf
     uint32_t ekfYawReset_ms = 0;
 
-    // GCS selection
+    AP_SerialManager serial_manager = AP_SerialManager::create();
-    AP_SerialManager serial_manager;
 
+    // GCS selection
     GCS_Sub _gcs; // avoid using this; use gcs()
     GCS_Sub &gcs() { return _gcs; }
 

Tools/Replay/Replay.h

@@ -62,7 +62,7 @@ public:
     AP_Baro barometer = AP_Baro::create();
     AP_GPS gps = AP_GPS::create();
     Compass compass = Compass::create();
-    AP_SerialManager serial_manager;
+    AP_SerialManager serial_manager = AP_SerialManager::create();
     RangeFinder rng = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
     NavEKF2 EKF2{&ahrs, barometer, rng};
     NavEKF3 EKF3{&ahrs, barometer, rng};

libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp

@@ -19,7 +19,7 @@ static Compass compass = Compass::create();
 
 static AP_GPS gps = AP_GPS::create();
 static AP_Baro barometer = AP_Baro::create();
-AP_SerialManager serial_manager;
+static AP_SerialManager serial_manager = AP_SerialManager::create();
 
 class DummyVehicle {
 public:

libraries/AP_Beacon/examples/AP_Marvelmind_test/AP_Marvelmind_test.cpp

@@ -16,7 +16,7 @@ void set_object_value_and_report(const void *object_pointer,
                       const char *name, float value);
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
-static AP_SerialManager serial_manager;
+static AP_SerialManager serial_manager = AP_SerialManager::create();
 AP_Beacon beacon{serial_manager};
 
 // try to set the object value but provide diagnostic if it failed

libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.cpp

@@ -43,7 +43,7 @@ AP_BoardLED board_led;
 // This example uses GPS system. Create it.
 static AP_GPS gps = AP_GPS::create();
 // Serial manager is needed for UART comunications
-AP_SerialManager serial_manager;
+static AP_SerialManager serial_manager = AP_SerialManager::create();
 
 
 void setup()

libraries/AP_Module/examples/ModuleTest/ModuleTest.cpp

@@ -16,7 +16,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 static AP_InertialSensor ins = AP_InertialSensor::create();
 static AP_GPS gps = AP_GPS::create();
 static AP_Baro baro = AP_Baro::create();
-AP_SerialManager serial_manager;
+static AP_SerialManager serial_manager = AP_SerialManager::create();
 
 // choose which AHRS system to use
 AP_AHRS_DCM  ahrs(ins, baro, gps);

libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp

@@ -25,7 +25,7 @@ public:
     AP_Baro barometer = AP_Baro::create();
     Compass compass = Compass::create();
     AP_InertialSensor ins = AP_InertialSensor::create();
-    AP_SerialManager serial_manager;
+    AP_SerialManager serial_manager = AP_SerialManager::create();
     RangeFinder sonar = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
     AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3,
                         AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};

libraries/AP_RangeFinder/examples/RFIND_test/RFIND_test.cpp

@@ -10,7 +10,7 @@ void loop();
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
-static AP_SerialManager serial_manager;
+static AP_SerialManager serial_manager = AP_SerialManager::create();
 static RangeFinder sonar = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
 
 void setup()