diff --git a/APMrover2/Rover.cpp b/APMrover2/Rover.cpp
index 91c6278139..fad1c3727b 100644
--- a/APMrover2/Rover.cpp
+++ b/APMrover2/Rover.cpp
@@ -31,10 +31,6 @@ Rover::Rover(void) :
     modes(&g.mode1),
     L1_controller(ahrs, nullptr),
     nav_controller(&L1_controller),
-    mission(ahrs,
-            FUNCTOR_BIND_MEMBER(&Rover::start_command, bool, const AP_Mission::Mission_Command&),
-            FUNCTOR_BIND_MEMBER(&Rover::verify_command_callback, bool, const AP_Mission::Mission_Command&),
-            FUNCTOR_BIND_MEMBER(&Rover::exit_mission, void)),
     ServoRelayEvents(relay),
 #if CAMERA == ENABLED
     camera(&relay, MASK_LOG_CAMERA, current_loc, gps, ahrs),
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 9976199b88..4f56e6e2dd 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -179,7 +179,10 @@ private:
     AP_Navigation *nav_controller;
 
     // Mission library
-    AP_Mission mission;
+    AP_Mission mission = AP_Mission::create(ahrs,
+            FUNCTOR_BIND_MEMBER(&Rover::start_command, bool, const AP_Mission::Mission_Command&),
+            FUNCTOR_BIND_MEMBER(&Rover::verify_command_callback, bool, const AP_Mission::Mission_Command&),
+            FUNCTOR_BIND_MEMBER(&Rover::exit_mission, void));
 
 #if AP_AHRS_NAVEKF_AVAILABLE
     OpticalFlow optflow{ahrs};
diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index bf2b6c39db..6b2708a123 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -26,10 +26,6 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 Copter::Copter(void)
     : DataFlash(DataFlash_Class::create(fwver.fw_string, g.log_bitmask)),
     flight_modes(&g.flight_mode1),
-    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)),
     control_mode(STABILIZE),
     scaleLongDown(1),
     wp_bearing(0),
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 6c5934bcd1..d62ca15218 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -223,7 +223,10 @@ private:
 #endif
 
     // Mission library
-    AP_Mission mission;
+    AP_Mission mission = AP_Mission::create(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));
 
     // Arming/Disarming mangement class
     AP_Arming_Copter arming {ahrs, barometer, compass, battery, inertial_nav, ins};
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index cf895a72b8..92598cb48b 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -599,10 +599,10 @@ private:
     float smoothed_airspeed;
 
     // Mission library
-    AP_Mission mission {ahrs, 
+    AP_Mission mission = AP_Mission::create(ahrs,
             FUNCTOR_BIND_MEMBER(&Plane::start_command_callback, bool, const AP_Mission::Mission_Command &),
             FUNCTOR_BIND_MEMBER(&Plane::verify_command_callback, bool, const AP_Mission::Mission_Command &),
-            FUNCTOR_BIND_MEMBER(&Plane::exit_mission_callback, void)};
+            FUNCTOR_BIND_MEMBER(&Plane::exit_mission_callback, void));
 
 
 #if PARACHUTE == ENABLED
diff --git a/ArduSub/Sub.cpp b/ArduSub/Sub.cpp
index e705575681..a0c1d16ff0 100644
--- a/ArduSub/Sub.cpp
+++ b/ArduSub/Sub.cpp
@@ -25,10 +25,6 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
  */
 Sub::Sub(void)
     : DataFlash(DataFlash_Class::create(fwver.fw_string, g.log_bitmask)),
-          mission(ahrs,
-                  FUNCTOR_BIND_MEMBER(&Sub::start_command, bool, const AP_Mission::Mission_Command &),
-                  FUNCTOR_BIND_MEMBER(&Sub::verify_command_callback, bool, const AP_Mission::Mission_Command &),
-                  FUNCTOR_BIND_MEMBER(&Sub::exit_mission, void)),
           control_mode(MANUAL),
           motors(MAIN_LOOP_RATE),
           scaleLongDown(1),
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 2521d13ed0..137df0f5c9 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -193,7 +193,10 @@ private:
 #endif
 
     // Mission library
-    AP_Mission mission;
+    AP_Mission mission = AP_Mission::create(ahrs,
+            FUNCTOR_BIND_MEMBER(&Sub::start_command, bool, const AP_Mission::Mission_Command &),
+            FUNCTOR_BIND_MEMBER(&Sub::verify_command_callback, bool, const AP_Mission::Mission_Command &),
+            FUNCTOR_BIND_MEMBER(&Sub::exit_mission, void));
 
     // Optical flow sensor
 #if OPTFLOW == ENABLED
diff --git a/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp b/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp
index a5c1ed1e63..4544b128fc 100644
--- a/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp
+++ b/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp
@@ -44,10 +44,10 @@ private:
     void run_replace_cmd_test();
     void run_max_cmd_test();
 
-    AP_Mission mission{ahrs,
+    AP_Mission mission = AP_Mission::create(ahrs,
             FUNCTOR_BIND_MEMBER(&MissionTest::start_cmd, bool, const AP_Mission::Mission_Command &),
             FUNCTOR_BIND_MEMBER(&MissionTest::verify_cmd, bool, const AP_Mission::Mission_Command &),
-            FUNCTOR_BIND_MEMBER(&MissionTest::mission_complete, void)};
+            FUNCTOR_BIND_MEMBER(&MissionTest::mission_complete, void));
 };
 
 static MissionTest missiontest;