global: use static method to construct AP_AHRS_DCM

Kiwa21 · Sep 26, 2017 · bfd13df · bfd13df
1 parent cd1ff7b
commit bfd13df
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Showing 6 changed files with 6 additions and 6 deletions.
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
@@ -167,7 +167,7 @@ class Rover : public AP_HAL::HAL::Callbacks {
     NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, rangefinder);
     AP_AHRS_NavEKF ahrs = AP_AHRS_NavEKF::create(ins, barometer, gps, EKF2, EKF3);
 #else
-    AP_AHRS_DCM ahrs {ins, barometer, gps};
+    AP_AHRS_DCM ahrs = AP_AHRS_DCM::create(ins, barometer, gps);
 #endif
 
     // Arming/Disarming management class

diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
@@ -120,7 +120,7 @@ class Tracker : public AP_HAL::HAL::Callbacks {
     NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, rng);
     AP_AHRS_NavEKF ahrs = AP_AHRS_NavEKF::create(ins, barometer, gps, EKF2, EKF3);
 #else
-    AP_AHRS_DCM ahrs{ins, barometer, gps};
+    AP_AHRS_DCM ahrs = AP_AHRS_DCM::create(ins, barometer, gps);
 #endif
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
@@ -217,7 +217,7 @@ class Plane : public AP_HAL::HAL::Callbacks {
     NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, rangefinder);
     AP_AHRS_NavEKF ahrs = AP_AHRS_NavEKF::create(ins, barometer, gps, EKF2, EKF3);
 #else
-    AP_AHRS_DCM ahrs {ins, barometer, gps};
+    AP_AHRS_DCM ahrs = AP_AHRS_DCM::create(ins, barometer, gps);
 #endif
 
     AP_TECS TECS_controller {ahrs, aparm, landing, g2.soaring_controller};

diff --git a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
@@ -35,7 +35,7 @@ class DummyVehicle {
 static DummyVehicle vehicle;
 
 // choose which AHRS system to use
-// AP_AHRS_DCM  ahrs(ins, baro, gps);
+// AP_AHRS_DCM ahrs = AP_AHRS_DCM::create(ins, barometer, gps);
 AP_AHRS_NavEKF &ahrs = vehicle.ahrs;
 
 void setup(void)

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
@@ -18,7 +18,7 @@ class MissionTest {
     AP_Baro baro = AP_Baro::create();
     AP_GPS  gps = AP_GPS::create();
     Compass compass = Compass::create();
-    AP_AHRS_DCM ahrs{ins, baro, gps};
+    AP_AHRS_DCM ahrs = AP_AHRS_DCM::create(ins, baro, gps);
 
     // global constants that control how many verify calls must be made for a command before it completes
     uint8_t verify_nav_cmd_iterations_to_complete = 3;

diff --git a/libraries/AP_Module/examples/ModuleTest/ModuleTest.cpp b/libraries/AP_Module/examples/ModuleTest/ModuleTest.cpp
@@ -19,7 +19,7 @@ static AP_Baro baro = AP_Baro::create();
 static AP_SerialManager serial_manager = AP_SerialManager::create();
 
 // choose which AHRS system to use
-AP_AHRS_DCM  ahrs(ins, baro, gps);
+static AP_AHRS_DCM ahrs = AP_AHRS_DCM::create(ins, baro, gps);
 
 void setup(void)
 {