From cd1ff7b86fe0f9ffcf87c2dda30e11a55d6b7800 Mon Sep 17 00:00:00 2001
From: Lucas De Marchi <lucas.demarchi@intel.com>
Date: Wed, 30 Aug 2017 01:15:33 -0700
Subject: [PATCH] AP_AHRS: DCM: add static create method

---
 libraries/AP_AHRS/AP_AHRS_DCM.h | 78 +++++++++++++++++++--------------
 1 file changed, 44 insertions(+), 34 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.h b/libraries/AP_AHRS/AP_AHRS_DCM.h
index 09bc7b09cf..5ceb530a1b 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.h
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.h
@@ -21,43 +21,19 @@
  *
  */
 
-class AP_AHRS_DCM : public AP_AHRS
-{
+class AP_AHRS_DCM : public AP_AHRS {
 public:
-    // Constructors
-    AP_AHRS_DCM(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps) :
-        AP_AHRS(ins, baro, gps),
-        _omega_I_sum_time(0.0f),
-        _renorm_val_sum(0.0f),
-        _renorm_val_count(0),
-        _error_rp(1.0f),
-        _error_yaw(1.0f),
-        _gps_last_update(0),
-        _ra_deltat(0.0f),
-        _ra_sum_start(0),
-        _last_declination(0.0f),
-        _mag_earth(1,0),
-        _have_gps_lock(false),
-        _last_lat(0),
-        _last_lng(0),
-        _position_offset_north(0.0f),
-        _position_offset_east(0.0f),
-        _have_position(false),
-        _last_wind_time(0),
-        _last_airspeed(0.0f),
-        _last_consistent_heading(0),
-        _imu1_weight(0.5f),
-        _last_failure_ms(0),
-        _last_startup_ms(0)
-    {
-        _dcm_matrix.identity();
-
-        // these are experimentally derived from the simulator
-        // with large drift levels
-        _ki = 0.0087f;
-        _ki_yaw = 0.01f;
+    static AP_AHRS_DCM create(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps) {
+        return AP_AHRS_DCM{ins, baro, gps};
     }
 
+    constexpr AP_AHRS_DCM(AP_AHRS_DCM &&other) = default;
+
+    /* Do not allow copies */
+    AP_AHRS_DCM(const AP_AHRS_DCM &other) = delete;
+    AP_AHRS_DCM &operator=(const AP_AHRS_DCM&) = delete;
+
+
     // return the smoothed gyro vector corrected for drift
     const Vector3f &get_gyro() const override {
         return _omega;
@@ -117,6 +93,40 @@ public:
     // time that the AHRS has been up
     uint32_t uptime_ms() const override;
 
+protected:
+    AP_AHRS_DCM(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps)
+        : AP_AHRS(ins, baro, gps)
+        , _omega_I_sum_time(0.0f)
+        , _renorm_val_sum(0.0f)
+        , _renorm_val_count(0)
+        , _error_rp(1.0f)
+        , _error_yaw(1.0f)
+        , _gps_last_update(0)
+        , _ra_deltat(0.0f)
+        , _ra_sum_start(0)
+        , _last_declination(0.0f)
+        , _mag_earth(1, 0)
+        , _have_gps_lock(false)
+        , _last_lat(0)
+        , _last_lng(0)
+        , _position_offset_north(0.0f)
+        , _position_offset_east(0.0f)
+        , _have_position(false)
+        , _last_wind_time(0)
+        , _last_airspeed(0.0f)
+        , _last_consistent_heading(0)
+        , _imu1_weight(0.5f)
+        , _last_failure_ms(0)
+        , _last_startup_ms(0)
+    {
+        _dcm_matrix.identity();
+
+        // these are experimentally derived from the simulator
+        // with large drift levels
+        _ki = 0.0087f;
+        _ki_yaw = 0.01f;
+    }
+
 private:
     float _ki;
     float _ki_yaw;