APM_Control: add static create method

libraries/APM_Control/AP_PitchController.h

@@ -9,13 +9,16 @@
 
 class AP_PitchController {
 public:
-	AP_PitchController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash) :
-		aparm(parms),
-        autotune(gains, AP_AutoTune::AUTOTUNE_PITCH, parms, _dataflash),
-        _ahrs(ahrs)
-    { 
-		AP_Param::setup_object_defaults(this, var_info);
-	}
+    static AP_PitchController create(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms,
+                                    DataFlash_Class &_dataflash) {
+        return AP_PitchController{ahrs, parms, _dataflash};
+    }
+
+    constexpr AP_PitchController(AP_PitchController &&other) = default;
+
+    /* Do not allow copies */
+    AP_PitchController(const AP_PitchController &other) = delete;
+    AP_PitchController &operator=(const AP_PitchController&) = delete;
 
 	int32_t get_rate_out(float desired_rate, float scaler);
 	int32_t get_servo_out(int32_t angle_err, float scaler, bool disable_integrator);
@@ -33,9 +36,17 @@ public:
     AP_Float &kI(void) { return gains.I; }
     AP_Float &kD(void) { return gains.D; }
     AP_Float &kFF(void) { return gains.FF; }
-    
+
 private:
-	const AP_Vehicle::FixedWing &aparm;
+    AP_PitchController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash)
+        : aparm(parms)
+        , autotune(gains, AP_AutoTune::AUTOTUNE_PITCH, parms, _dataflash)
+        , _ahrs(ahrs)
+    {
+        AP_Param::setup_object_defaults(this, var_info);
+    }
+
+    const AP_Vehicle::FixedWing &aparm;
     AP_AutoTune::ATGains gains;
     AP_AutoTune autotune;
 	AP_Int16 _max_rate_neg;

libraries/APM_Control/AP_RollController.h

@@ -9,13 +9,16 @@
 
 class AP_RollController {
 public:
-	AP_RollController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash) :
-		aparm(parms),
-        autotune(gains, AP_AutoTune::AUTOTUNE_ROLL, parms, _dataflash),
-        _ahrs(ahrs)
-    { 
-		AP_Param::setup_object_defaults(this, var_info);
-	}
+    static AP_RollController create(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms,
+                                    DataFlash_Class &_dataflash) {
+        return AP_RollController{ahrs, parms, _dataflash};
+    }
+
+    constexpr AP_RollController(AP_RollController &&other) = default;
+
+    /* Do not allow copies */
+    AP_RollController(const AP_RollController &other) = delete;
+    AP_RollController &operator=(const AP_RollController&) = delete;
 
 	int32_t get_rate_out(float desired_rate, float scaler);
 	int32_t get_servo_out(int32_t angle_err, float scaler, bool disable_integrator);
@@ -40,9 +43,17 @@ public:
     AP_Float &kI(void) { return gains.I; }
     AP_Float &kD(void) { return gains.D; }
     AP_Float &kFF(void) { return gains.FF; }
-    
+
 private:
-	const AP_Vehicle::FixedWing &aparm;
+    AP_RollController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash)
+        : aparm(parms)
+        , autotune(gains, AP_AutoTune::AUTOTUNE_ROLL, parms, _dataflash)
+        , _ahrs(ahrs)
+    {
+        AP_Param::setup_object_defaults(this, var_info);
+    }
+
+    const AP_Vehicle::FixedWing &aparm;
     AP_AutoTune::ATGains gains;
     AP_AutoTune autotune;
 	uint32_t _last_t;

libraries/APM_Control/AP_SteerController.h

@@ -7,11 +7,15 @@
 
 class AP_SteerController {
 public:
-	AP_SteerController(AP_AHRS &ahrs) :
-        _ahrs(ahrs)
-    { 
-		AP_Param::setup_object_defaults(this, var_info);
-	}
+    static AP_SteerController create(AP_AHRS &ahrs) {
+        return AP_SteerController{ahrs};
+    }
+
+    constexpr AP_SteerController(AP_SteerController &&other) = default;
+
+    /* Do not allow copies */
+    AP_SteerController(const AP_SteerController &other) = delete;
+    AP_SteerController &operator=(const AP_SteerController&) = delete;
 
     /*
       return a steering servo output from -4500 to 4500 given a
@@ -49,7 +53,13 @@ public:
     }
 
 private:
-	AP_Float _tau;
+    AP_SteerController(AP_AHRS &ahrs)
+        : _ahrs(ahrs)
+    {
+        AP_Param::setup_object_defaults(this, var_info);
+    }
+
+    AP_Float _tau;
 	AP_Float _K_FF;
 	AP_Float _K_P;
 	AP_Float _K_I;

libraries/APM_Control/AP_YawController.h

@@ -7,16 +7,16 @@
 #include <cmath>
 
 class AP_YawController {
-public:                      
-	AP_YawController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms) :
-		aparm(parms),
-        _ahrs(ahrs)
-	{
-		AP_Param::setup_object_defaults(this, var_info);
-		_pid_info.desired = 0;
-		_pid_info.FF = 0;
-		_pid_info.P = 0;
-	}
+public:
+    static AP_YawController create(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms) {
+        return AP_YawController{ahrs, parms};
+    }
+
+    constexpr AP_YawController(AP_YawController &&other) = default;
+
+    /* Do not allow copies */
+    AP_YawController(const AP_YawController &other) = delete;
+    AP_YawController &operator=(const AP_YawController&) = delete;
 
 	int32_t get_servo_out(float scaler, bool disable_integrator);
 
@@ -27,7 +27,17 @@ public:
 	static const struct AP_Param::GroupInfo var_info[];
 
 private:
-	const AP_Vehicle::FixedWing &aparm;
+    AP_YawController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms)
+        : aparm(parms)
+        , _ahrs(ahrs)
+    {
+        AP_Param::setup_object_defaults(this, var_info);
+        _pid_info.desired = 0;
+        _pid_info.FF = 0;
+        _pid_info.P = 0;
+    }
+
+    const AP_Vehicle::FixedWing &aparm;
 	AP_Float _K_A;
 	AP_Float _K_I;
 	AP_Float _K_D;