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Copter: removed create() method for objects

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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 12:06:15 +11:00
parent 482ae876fb
commit 8ab0ac8a16
5 changed files with 51 additions and 70 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
ArduCopter/AP_Arming.h
View File

@ -5,14 +5,16 @@
class AP_Arming_Copter : public AP_Arming
{
public:
static AP_Arming_Copter create(const AP_AHRS_NavEKF &ahrs_ref, const AP_Baro &baro, Compass &compass,
const AP_BattMonitor &battery, const AP_InertialNav_NavEKF &inav,
const AP_InertialSensor &ins) {
return AP_Arming_Copter{ahrs_ref, baro, compass, battery, inav, ins};
AP_Arming_Copter(const AP_AHRS_NavEKF &ahrs_ref, const AP_Baro &baro, Compass &compass,
const AP_BattMonitor &battery, const AP_InertialNav_NavEKF &inav,
const AP_InertialSensor &ins)
: AP_Arming(ahrs_ref, baro, compass, battery)
, _inav(inav)
, _ins(ins)
, _ahrs_navekf(ahrs_ref)
{
}
constexpr AP_Arming_Copter(AP_Arming_Copter &&other) = default;
/* Do not allow copies */
AP_Arming_Copter(const AP_Arming_Copter &other) = delete;
AP_Arming_Copter &operator=(const AP_Baro&) = delete;
@ -48,15 +50,6 @@ protected:
enum HomeState home_status() const override;
private:
AP_Arming_Copter(const AP_AHRS_NavEKF &ahrs_ref, const AP_Baro &baro, Compass &compass,
const AP_BattMonitor &battery, const AP_InertialNav_NavEKF &inav,
const AP_InertialSensor &ins)
: AP_Arming(ahrs_ref, baro, compass, battery)
, _inav(inav)
, _ins(ins)
, _ahrs_navekf(ahrs_ref)
{
}
const AP_InertialNav_NavEKF &_inav;
const AP_InertialSensor &_ins;

8
ArduCopter/AP_Rally.h
View File

@ -20,18 +20,12 @@
class AP_Rally_Copter : public AP_Rally
{
public:
static AP_Rally_Copter create(AP_AHRS &ahrs) {
return AP_Rally_Copter{ahrs};
}
constexpr AP_Rally_Copter(AP_Rally_Copter &&other) = default;
AP_Rally_Copter(AP_AHRS &ahrs) : AP_Rally(ahrs) { }
/* Do not allow copies */
AP_Rally_Copter(const AP_Rally_Copter &other) = delete;
AP_Rally_Copter &operator=(const AP_Rally_Copter&) = delete;
private:
AP_Rally_Copter(AP_AHRS &ahrs) : AP_Rally(ahrs) { }
bool is_valid(const Location &rally_point) const override;
};

2
ArduCopter/Copter.cpp
View File

@ -24,7 +24,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
constructor for main Copter class
*/
Copter::Copter(void)
: DataFlash(DataFlash_Class::create(fwver.fw_string, g.log_bitmask)),
: DataFlash(fwver.fw_string, g.log_bitmask),
flight_modes(&g.flight_mode1),
control_mode(STABILIZE),
scaleLongDown(1),

76
ArduCopter/Copter.h
View File

@ -168,10 +168,10 @@ private:
ParametersG2 g2;
// main loop scheduler
AP_Scheduler scheduler = AP_Scheduler::create();
AP_Scheduler scheduler;
// AP_Notify instance
AP_Notify notify = AP_Notify::create();
AP_Notify notify;
// used to detect MAVLink acks from GCS to stop compassmot
uint8_t command_ack_counter;
@ -185,16 +185,16 @@ private:
// Dataflash
DataFlash_Class DataFlash;
AP_GPS gps = AP_GPS::create();
AP_GPS gps;
// flight modes convenience array
AP_Int8 *flight_modes;
AP_Baro barometer = AP_Baro::create();
Compass compass = Compass::create();
AP_InertialSensor ins = AP_InertialSensor::create();
AP_Baro barometer;
Compass compass;
AP_InertialSensor ins;
RangeFinder rangefinder = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
RangeFinder rangefinder{serial_manager, ROTATION_PITCH_270};
struct {
bool enabled:1;
bool alt_healthy:1; // true if we can trust the altitude from the rangefinder
@ -204,29 +204,29 @@ private:
int8_t glitch_count;
} rangefinder_state = { false, false, 0, 0 };
AP_RPM rpm_sensor = AP_RPM::create();
AP_RPM rpm_sensor;
// Inertial Navigation EKF
NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rangefinder);
NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, rangefinder);
AP_AHRS_NavEKF ahrs = AP_AHRS_NavEKF::create(ins, barometer, gps, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF);
NavEKF2 EKF2{&ahrs, barometer, rangefinder};
NavEKF3 EKF3{&ahrs, barometer, rangefinder};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL::SITL sitl;
#endif
// Mission library
AP_Mission mission = AP_Mission::create(ahrs,
AP_Mission mission{ahrs,
FUNCTOR_BIND_MEMBER(&Copter::start_command, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Copter::verify_command_callback, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Copter::exit_mission, void));
FUNCTOR_BIND_MEMBER(&Copter::exit_mission, void)};
// Arming/Disarming mangement class
AP_Arming_Copter arming = AP_Arming_Copter::create(ahrs, barometer, compass, battery, inertial_nav, ins);
AP_Arming_Copter arming{ahrs, barometer, compass, battery, inertial_nav, ins};
// Optical flow sensor
#if OPTFLOW == ENABLED
OpticalFlow optflow = OpticalFlow::create(ahrs);
OpticalFlow optflow{ahrs};
#endif
// gnd speed limit required to observe optical flow sensor limits
@ -239,7 +239,7 @@ private:
uint32_t ekfYawReset_ms = 0;
int8_t ekf_primary_core;
AP_SerialManager serial_manager = AP_SerialManager::create();
AP_SerialManager serial_manager;
// GCS selection
GCS_Copter _gcs; // avoid using this; use gcs()
@ -310,14 +310,14 @@ private:
// altitude below which we do no navigation in auto takeoff
float auto_takeoff_no_nav_alt_cm;
RCMapper rcmap = RCMapper::create();
RCMapper rcmap;
// board specific config
AP_BoardConfig BoardConfig = AP_BoardConfig::create();
AP_BoardConfig BoardConfig;
#if HAL_WITH_UAVCAN
// board specific config for CAN bus
AP_BoardConfig_CAN BoardConfig_CAN = AP_BoardConfig_CAN::create();
AP_BoardConfig_CAN BoardConfig_CAN;
#endif
// receiver RSSI
@ -404,11 +404,11 @@ private:
uint32_t nav_delay_time_start;
// Battery Sensors
AP_BattMonitor battery = AP_BattMonitor::create();
AP_BattMonitor battery;
#if FRSKY_TELEM_ENABLED == ENABLED
// FrSky telemetry support
AP_Frsky_Telem frsky_telemetry = AP_Frsky_Telem::create(ahrs, battery, rangefinder);
AP_Frsky_Telem frsky_telemetry{ahrs, battery, rangefinder};
#endif
// Variables for extended status MAVLink messages
@ -428,7 +428,7 @@ private:
LowPassFilterFloat rc_throttle_control_in_filter;
// loop performance monitoring:
AP::PerfInfo perf_info = AP::PerfInfo::create();
AP::PerfInfo perf_info;
// 3D Location vectors
// Current location of the vehicle (altitude is relative to home)
@ -496,72 +496,72 @@ private:
uint8_t auto_trim_counter;
// Reference to the relay object
AP_Relay relay = AP_Relay::create();
AP_Relay relay;
// handle repeated servo and relay events
AP_ServoRelayEvents ServoRelayEvents = AP_ServoRelayEvents::create(relay);
AP_ServoRelayEvents ServoRelayEvents{relay};
// Camera
#if CAMERA == ENABLED
AP_Camera camera = AP_Camera::create(&relay, MASK_LOG_CAMERA, current_loc, ahrs);
AP_Camera camera{&relay, MASK_LOG_CAMERA, current_loc, ahrs};
#endif
// Camera/Antenna mount tracking and stabilisation stuff
#if MOUNT == ENABLED
// current_loc uses the baro/gps soloution for altitude rather than gps only.
AP_Mount camera_mount = AP_Mount::create(ahrs, current_loc);
AP_Mount camera_mount{ahrs, current_loc};
#endif
// AC_Fence library to reduce fly-aways
#if AC_FENCE == ENABLED
AC_Fence fence = AC_Fence::create(ahrs);
AC_Fence fence{ahrs};
#endif
#if AC_AVOID_ENABLED == ENABLED
AC_Avoid avoid = AC_Avoid::create(ahrs, fence, g2.proximity, &g2.beacon);
AC_Avoid avoid{ahrs, fence, g2.proximity, &g2.beacon};
#endif
// Rally library
#if AC_RALLY == ENABLED
AP_Rally_Copter rally = AP_Rally_Copter::create(ahrs);
AP_Rally_Copter rally{ahrs};
#endif
// RSSI
AP_RSSI rssi = AP_RSSI::create();
AP_RSSI rssi;
// Crop Sprayer
#if SPRAYER == ENABLED
AC_Sprayer sprayer = AC_Sprayer::create(&inertial_nav);
AC_Sprayer sprayer{&inertial_nav};
#endif
// Parachute release
#if PARACHUTE == ENABLED
AP_Parachute parachute = AP_Parachute::create(relay);
AP_Parachute parachute{relay};
#endif
// Landing Gear Controller
AP_LandingGear landinggear = AP_LandingGear::create();
AP_LandingGear landinggear;
// terrain handling
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
AP_Terrain terrain = AP_Terrain::create(ahrs, mission, rally);
AP_Terrain terrain{ahrs, mission, rally};
#endif
// Precision Landing
#if PRECISION_LANDING == ENABLED
AC_PrecLand precland = AC_PrecLand::create(ahrs, inertial_nav);
AC_PrecLand precland{ahrs, inertial_nav};
#endif
// Pilot Input Management Library
// Only used for Helicopter for now
#if FRAME_CONFIG == HELI_FRAME
AC_InputManager_Heli input_manager = AC_InputManager_Heli::create();
AC_InputManager_Heli input_manager;
#endif
AP_ADSB adsb = AP_ADSB::create(ahrs);
AP_ADSB adsb{ahrs};
// avoidance of adsb enabled vehicles (normally manned vehicles)
AP_Avoidance_Copter avoidance_adsb = AP_Avoidance_Copter::create(ahrs, adsb);
AP_Avoidance_Copter avoidance_adsb{ahrs, adsb};
// use this to prevent recursion during sensor init
bool in_mavlink_delay;

12
ArduCopter/avoidance_adsb.h
View File

@ -8,12 +8,11 @@
// functionality - for example, not doing anything while landed.
class AP_Avoidance_Copter : public AP_Avoidance {
public:
static AP_Avoidance_Copter create(AP_AHRS &ahrs, class AP_ADSB &adsb) {
return AP_Avoidance_Copter{ahrs, adsb};
AP_Avoidance_Copter(AP_AHRS &ahrs, class AP_ADSB &adsb)
: AP_Avoidance(ahrs, adsb)
{
}
constexpr AP_Avoidance_Copter(AP_Avoidance_Copter &&other) = default;
/* Do not allow copies */
AP_Avoidance_Copter(const AP_Avoidance_Copter &other) = delete;
AP_Avoidance_Copter &operator=(const AP_Avoidance_Copter&) = delete;
@ -23,11 +22,6 @@ private:
void set_mode_else_try_RTL_else_LAND(control_mode_t mode);
protected:
AP_Avoidance_Copter(AP_AHRS &ahrs, class AP_ADSB &adsb)
: AP_Avoidance(ahrs, adsb)
{
}
// override avoidance handler
MAV_COLLISION_ACTION handle_avoidance(const AP_Avoidance::Obstacle *obstacle, MAV_COLLISION_ACTION requested_action) override;