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Tracker: 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 1c503ee459
commit a8a715d673
2 changed files with 16 additions and 16 deletions
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2
AntennaTracker/AntennaTracker.cpp
View File

@ -135,7 +135,7 @@ void Tracker::ten_hz_logging_loop()
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
Tracker::Tracker(void)
: DataFlash(DataFlash_Class::create(fwver.fw_string, g.log_bitmask))
: DataFlash(fwver.fw_string, g.log_bitmask)
{
memset(&current_loc, 0, sizeof(current_loc));
memset(&vehicle, 0, sizeof(vehicle));

30
AntennaTracker/Tracker.h
View File

@ -93,10 +93,10 @@ private:
Parameters g;
// main loop scheduler
AP_Scheduler scheduler = AP_Scheduler::create();
AP_Scheduler scheduler;
// notification object for LEDs, buzzers etc
AP_Notify notify = AP_Notify::create();
AP_Notify notify;
uint32_t start_time_ms = 0;
@ -104,23 +104,23 @@ private:
DataFlash_Class DataFlash;
AP_GPS gps = AP_GPS::create();
AP_GPS gps;
AP_Baro barometer = AP_Baro::create();
AP_Baro barometer;
Compass compass = Compass::create();
Compass compass;
AP_InertialSensor ins = AP_InertialSensor::create();
AP_InertialSensor ins;
RangeFinder rng = RangeFinder::create(serial_manager, ROTATION_NONE);
RangeFinder rng{serial_manager, ROTATION_NONE};
// Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE
NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rng);
NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, rng);
AP_AHRS_NavEKF ahrs = AP_AHRS_NavEKF::create(ins, barometer, gps, EKF2, EKF3);
NavEKF2 EKF2{&ahrs, barometer, rng};
NavEKF3 EKF3{&ahrs, barometer, rng};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3};
#else
AP_AHRS_DCM ahrs = AP_AHRS_DCM::create(ins, barometer, gps);
AP_AHRS_DCM ahrs{ins, barometer, gps};
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
@ -139,19 +139,19 @@ private:
bool yaw_servo_out_filt_init = false;
bool pitch_servo_out_filt_init = false;
AP_SerialManager serial_manager = AP_SerialManager::create();
AP_SerialManager serial_manager;
GCS_Tracker _gcs; // avoid using this; use gcs()
GCS_Tracker &gcs() { return _gcs; }
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
// Battery Sensors
AP_BattMonitor battery = AP_BattMonitor::create();
AP_BattMonitor battery;
struct Location current_loc;