global: use static method to construct AP_InertialSensor

APMrover2/Rover.h

@@ -154,7 +154,7 @@ private:
     AP_GPS gps;
     AP_Baro barometer = AP_Baro::create();
     Compass compass = Compass::create();
-    AP_InertialSensor ins;
+    AP_InertialSensor ins = AP_InertialSensor::create();
     RangeFinder rangefinder { serial_manager, ROTATION_NONE };
     AP_Button button;
 

AntennaTracker/Tracker.h

@@ -110,7 +110,7 @@ private:
 
     Compass compass = Compass::create();
 
-    AP_InertialSensor ins;
+    AP_InertialSensor ins = AP_InertialSensor::create();
 
     RangeFinder rng {serial_manager, ROTATION_NONE};
 

ArduCopter/Copter.h

@@ -199,7 +199,7 @@ private:
 
     AP_Baro barometer = AP_Baro::create();
     Compass compass = Compass::create();
-    AP_InertialSensor ins;
+    AP_InertialSensor ins = AP_InertialSensor::create();
 
     RangeFinder rangefinder {serial_manager, ROTATION_PITCH_270};
     struct {

ArduPlane/Plane.h

@@ -203,7 +203,7 @@ private:
     AP_Baro barometer = AP_Baro::create();
     Compass compass = Compass::create();
 
-    AP_InertialSensor ins;
+    AP_InertialSensor ins = AP_InertialSensor::create();
 
     RangeFinder rangefinder {serial_manager, ROTATION_PITCH_270};
 

ArduSub/Sub.h

@@ -168,7 +168,7 @@ private:
     TSYS01 celsius;
     AP_Baro barometer = AP_Baro::create();
     Compass compass = Compass::create();
-    AP_InertialSensor ins;
+    AP_InertialSensor ins = AP_InertialSensor::create();
 
     RangeFinder rangefinder {serial_manager, ROTATION_PITCH_270};
     struct {

Tools/Replay/Replay.h

@@ -58,7 +58,7 @@ public:
     void setup();
     void load_parameters(void);
 
-    AP_InertialSensor ins;
+    AP_InertialSensor ins = AP_InertialSensor::create();
     AP_Baro barometer = AP_Baro::create();
     AP_GPS gps;
     Compass compass = Compass::create();

libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp

@@ -13,8 +13,7 @@ void loop();
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
-// INS and Baro declaration
+static AP_InertialSensor ins = AP_InertialSensor::create();
-AP_InertialSensor ins;
 
 static Compass compass = Compass::create();
 

libraries/AP_InertialSensor/examples/INS_generic/INS_generic.cpp

@@ -8,7 +8,7 @@
 
 const AP_HAL::HAL &hal = AP_HAL::get_HAL();
 
-AP_InertialSensor ins;
+static AP_InertialSensor ins = AP_InertialSensor::create();
 
 static void display_offsets_and_scaling();
 static void run_test();

libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp

@@ -14,7 +14,7 @@ public:
     void loop();
 
 private:
-    AP_InertialSensor ins;
+    AP_InertialSensor ins = AP_InertialSensor::create();
     AP_Baro baro = AP_Baro::create();
     AP_GPS  gps;
     Compass compass = Compass::create();

libraries/AP_Module/examples/ModuleTest/ModuleTest.cpp

@@ -13,7 +13,7 @@ void loop();
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
 // sensor declaration
-AP_InertialSensor ins;
+static AP_InertialSensor ins = AP_InertialSensor::create();
 AP_GPS gps;
 static AP_Baro baro = AP_Baro::create();
 AP_SerialManager serial_manager;

libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp

@@ -24,7 +24,7 @@ public:
     AP_GPS gps;
     AP_Baro barometer = AP_Baro::create();
     Compass compass = Compass::create();
-    AP_InertialSensor ins;
+    AP_InertialSensor ins = AP_InertialSensor::create();
     AP_SerialManager serial_manager;
     RangeFinder sonar {serial_manager, ROTATION_PITCH_270};
     AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF2, EKF3,

libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp

@@ -16,7 +16,7 @@ public:
 
 private:
 
-    AP_InertialSensor ins;
+    AP_InertialSensor ins = AP_InertialSensor::create();
     AP_Scheduler scheduler;
 
     uint32_t ins_counter;