diff --git a/libraries/AP_Mission/AP_Mission.h b/libraries/AP_Mission/AP_Mission.h
index 3bb063be0a..0df0710cc4 100644
--- a/libraries/AP_Mission/AP_Mission.h
+++ b/libraries/AP_Mission/AP_Mission.h
@@ -272,30 +272,19 @@ public:
         MISSION_COMPLETE=2
     };
 
-    /// constructor
-    AP_Mission(AP_AHRS &ahrs, mission_cmd_fn_t cmd_start_fn, mission_cmd_fn_t cmd_verify_fn, mission_complete_fn_t mission_complete_fn) :
-        _ahrs(ahrs),
-        _cmd_start_fn(cmd_start_fn),
-        _cmd_verify_fn(cmd_verify_fn),
-        _mission_complete_fn(mission_complete_fn),
-        _prev_nav_cmd_id(AP_MISSION_CMD_ID_NONE),
-        _prev_nav_cmd_index(AP_MISSION_CMD_INDEX_NONE),
-        _prev_nav_cmd_wp_index(AP_MISSION_CMD_INDEX_NONE),
-        _last_change_time_ms(0)
-    {
-        // load parameter defaults
-        AP_Param::setup_object_defaults(this, var_info);
-
-        // clear commands
-        _nav_cmd.index = AP_MISSION_CMD_INDEX_NONE;
-        _do_cmd.index = AP_MISSION_CMD_INDEX_NONE;
-
-        // initialise other internal variables
-        _flags.state = MISSION_STOPPED;
-        _flags.nav_cmd_loaded = false;
-        _flags.do_cmd_loaded = false;
+    static AP_Mission create(AP_AHRS &ahrs,
+                             mission_cmd_fn_t cmd_start_fn,
+                             mission_cmd_fn_t cmd_verify_fn,
+                             mission_complete_fn_t mission_complete_fn) {
+        return AP_Mission(ahrs, cmd_start_fn, cmd_verify_fn, mission_complete_fn);
     }
 
+    constexpr AP_Mission(AP_Mission &&other) = default;
+
+    /* Do not allow copies */
+    AP_Mission(const AP_Mission &other) = delete;
+    AP_Mission &operator=(const AP_Mission&) = delete;
+
     ///
     /// public mission methods
     ///
@@ -454,6 +443,30 @@ private:
         uint8_t do_cmd_all_done : 1; // true if all "do"/"conditional" commands have been completed (stops unnecessary searching through eeprom for do commands)
     } _flags;
 
+    AP_Mission(AP_AHRS &ahrs, mission_cmd_fn_t cmd_start_fn, mission_cmd_fn_t cmd_verify_fn, mission_complete_fn_t mission_complete_fn) :
+        _ahrs(ahrs),
+        _cmd_start_fn(cmd_start_fn),
+        _cmd_verify_fn(cmd_verify_fn),
+        _mission_complete_fn(mission_complete_fn),
+        _prev_nav_cmd_id(AP_MISSION_CMD_ID_NONE),
+        _prev_nav_cmd_index(AP_MISSION_CMD_INDEX_NONE),
+        _prev_nav_cmd_wp_index(AP_MISSION_CMD_INDEX_NONE),
+        _last_change_time_ms(0)
+    {
+        // load parameter defaults
+        AP_Param::setup_object_defaults(this, var_info);
+
+        // clear commands
+        _nav_cmd.index = AP_MISSION_CMD_INDEX_NONE;
+        _do_cmd.index = AP_MISSION_CMD_INDEX_NONE;
+
+        // initialise other internal variables
+        _flags.state = MISSION_STOPPED;
+        _flags.nav_cmd_loaded = false;
+        _flags.do_cmd_loaded = false;
+    }
+
+
     ///
     /// private methods
     ///