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ArduPlane: use static method to construct controllers

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This commit is contained in:
Lucas De Marchi 2017-08-30 11:11:36 -07:00 committed by Francisco Ferreira
parent 67e02e3c55
commit e10c60e492
1 changed files with 5 additions and 5 deletions
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10
ArduPlane/Plane.h
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@ -221,13 +221,13 @@ private:
#endif
AP_TECS TECS_controller = AP_TECS::create(ahrs, aparm, landing, g2.soaring_controller);
AP_L1_Control L1_controller {ahrs, &TECS_controller};
AP_L1_Control L1_controller = AP_L1_Control::create(ahrs, &TECS_controller);
// Attitude to servo controllers
AP_RollController rollController {ahrs, aparm, DataFlash};
AP_PitchController pitchController {ahrs, aparm, DataFlash};
AP_YawController yawController {ahrs, aparm};
AP_SteerController steerController {ahrs};
AP_RollController rollController = AP_RollController::create(ahrs, aparm, DataFlash);
AP_PitchController pitchController = AP_PitchController::create(ahrs, aparm, DataFlash);
AP_YawController yawController = AP_YawController::create(ahrs, aparm);
AP_SteerController steerController = AP_SteerController::create(ahrs);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL::SITL sitl;