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Copter: removed create() method for objects 

See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
mission-4.1.18
Andrew Tridgell 7 years ago
parent
482ae876fb
commit
8ab0ac8a16
5 changed files with 51 additions and 70 deletions
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  1. 23
      ArduCopter/AP_Arming.h
  2. 8
      ArduCopter/AP_Rally.h
  3. 2
      ArduCopter/Copter.cpp
  4. 76
      ArduCopter/Copter.h
  5. 12
      ArduCopter/avoidance_adsb.h

23
ArduCopter/AP_Arming.h
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@ -5,14 +5,16 @@
class AP_Arming_Copter : public AP_Arming class AP_Arming_Copter : public AP_Arming
{ {
public: public:
static AP_Arming_Copter create(const AP_AHRS_NavEKF &ahrs_ref, const AP_Baro &baro, Compass &compass, AP_Arming_Copter(const AP_AHRS_NavEKF &ahrs_ref, const AP_Baro &baro, Compass &compass,
const AP_BattMonitor &battery, const AP_InertialNav_NavEKF &inav, const AP_BattMonitor &battery, const AP_InertialNav_NavEKF &inav,
const AP_InertialSensor &ins) { const AP_InertialSensor &ins)
return AP_Arming_Copter{ahrs_ref, baro, compass, battery, inav, ins}; : AP_Arming(ahrs_ref, baro, compass, battery)
, _inav(inav)
, _ins(ins)
, _ahrs_navekf(ahrs_ref)
{
} }
constexpr AP_Arming_Copter(AP_Arming_Copter &&other) = default;
/* Do not allow copies */ /* Do not allow copies */
AP_Arming_Copter(const AP_Arming_Copter &other) = delete; AP_Arming_Copter(const AP_Arming_Copter &other) = delete;
AP_Arming_Copter &operator=(const AP_Baro&) = delete; AP_Arming_Copter &operator=(const AP_Baro&) = delete;
@ -48,15 +50,6 @@ protected:
enum HomeState home_status() const override; enum HomeState home_status() const override;
private: private:
AP_Arming_Copter(const AP_AHRS_NavEKF &ahrs_ref, const AP_Baro &baro, Compass &compass,
const AP_BattMonitor &battery, const AP_InertialNav_NavEKF &inav,
const AP_InertialSensor &ins)
: AP_Arming(ahrs_ref, baro, compass, battery)
, _inav(inav)
, _ins(ins)
, _ahrs_navekf(ahrs_ref)
{
}
const AP_InertialNav_NavEKF &_inav; const AP_InertialNav_NavEKF &_inav;
const AP_InertialSensor &_ins; const AP_InertialSensor &_ins;

8
ArduCopter/AP_Rally.h
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@ -20,18 +20,12 @@
class AP_Rally_Copter : public AP_Rally class AP_Rally_Copter : public AP_Rally
{ {
public: public:
static AP_Rally_Copter create(AP_AHRS &ahrs) { AP_Rally_Copter(AP_AHRS &ahrs) : AP_Rally(ahrs) { }
return AP_Rally_Copter{ahrs};
}
constexpr AP_Rally_Copter(AP_Rally_Copter &&other) = default;
/* Do not allow copies */ /* Do not allow copies */
AP_Rally_Copter(const AP_Rally_Copter &other) = delete; AP_Rally_Copter(const AP_Rally_Copter &other) = delete;
AP_Rally_Copter &operator=(const AP_Rally_Copter&) = delete; AP_Rally_Copter &operator=(const AP_Rally_Copter&) = delete;
private: private:
AP_Rally_Copter(AP_AHRS &ahrs) : AP_Rally(ahrs) { }
bool is_valid(const Location &rally_point) const override; bool is_valid(const Location &rally_point) const override;
}; };

2
ArduCopter/Copter.cpp
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@ -24,7 +24,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
constructor for main Copter class constructor for main Copter class
*/ */
Copter::Copter(void) Copter::Copter(void)
: DataFlash(DataFlash_Class::create(fwver.fw_string, g.log_bitmask)), : DataFlash(fwver.fw_string, g.log_bitmask),
flight_modes(&g.flight_mode1), flight_modes(&g.flight_mode1),
control_mode(STABILIZE), control_mode(STABILIZE),
scaleLongDown(1), scaleLongDown(1),

76
ArduCopter/Copter.h
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@ -168,10 +168,10 @@ private:
ParametersG2 g2; ParametersG2 g2;
// main loop scheduler // main loop scheduler
AP_Scheduler scheduler = AP_Scheduler::create(); AP_Scheduler scheduler;
// AP_Notify instance // AP_Notify instance
AP_Notify notify = AP_Notify::create(); AP_Notify notify;
// used to detect MAVLink acks from GCS to stop compassmot // used to detect MAVLink acks from GCS to stop compassmot
uint8_t command_ack_counter; uint8_t command_ack_counter;
@ -185,16 +185,16 @@ private:
// Dataflash // Dataflash
DataFlash_Class DataFlash; DataFlash_Class DataFlash;
AP_GPS gps = AP_GPS::create(); AP_GPS gps;
// flight modes convenience array // flight modes convenience array
AP_Int8 *flight_modes; AP_Int8 *flight_modes;
AP_Baro barometer = AP_Baro::create(); AP_Baro barometer;
Compass compass = Compass::create(); Compass compass;
AP_InertialSensor ins = AP_InertialSensor::create(); AP_InertialSensor ins;
RangeFinder rangefinder = RangeFinder::create(serial_manager, ROTATION_PITCH_270); RangeFinder rangefinder{serial_manager, ROTATION_PITCH_270};
struct { struct {
bool enabled:1; bool enabled:1;
bool alt_healthy:1; // true if we can trust the altitude from the rangefinder bool alt_healthy:1; // true if we can trust the altitude from the rangefinder
@ -204,29 +204,29 @@ private:
int8_t glitch_count; int8_t glitch_count;
} rangefinder_state = { false, false, 0, 0 }; } rangefinder_state = { false, false, 0, 0 };
AP_RPM rpm_sensor = AP_RPM::create(); AP_RPM rpm_sensor;
// Inertial Navigation EKF // Inertial Navigation EKF
NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rangefinder); NavEKF2 EKF2{&ahrs, barometer, rangefinder};
NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, rangefinder); NavEKF3 EKF3{&ahrs, barometer, rangefinder};
AP_AHRS_NavEKF ahrs = AP_AHRS_NavEKF::create(ins, barometer, gps, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF); AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL::SITL sitl; SITL::SITL sitl;
#endif #endif
// Mission library // Mission library
AP_Mission mission = AP_Mission::create(ahrs, AP_Mission mission{ahrs,
FUNCTOR_BIND_MEMBER(&Copter::start_command, bool, const AP_Mission::Mission_Command &), FUNCTOR_BIND_MEMBER(&Copter::start_command, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Copter::verify_command_callback, bool, const AP_Mission::Mission_Command &), FUNCTOR_BIND_MEMBER(&Copter::verify_command_callback, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Copter::exit_mission, void)); FUNCTOR_BIND_MEMBER(&Copter::exit_mission, void)};
// Arming/Disarming mangement class // Arming/Disarming mangement class
AP_Arming_Copter arming = AP_Arming_Copter::create(ahrs, barometer, compass, battery, inertial_nav, ins); AP_Arming_Copter arming{ahrs, barometer, compass, battery, inertial_nav, ins};
// Optical flow sensor // Optical flow sensor
#if OPTFLOW == ENABLED #if OPTFLOW == ENABLED
OpticalFlow optflow = OpticalFlow::create(ahrs); OpticalFlow optflow{ahrs};
#endif #endif
// gnd speed limit required to observe optical flow sensor limits // gnd speed limit required to observe optical flow sensor limits
@ -239,7 +239,7 @@ private:
uint32_t ekfYawReset_ms = 0; uint32_t ekfYawReset_ms = 0;
int8_t ekf_primary_core; int8_t ekf_primary_core;
AP_SerialManager serial_manager = AP_SerialManager::create(); AP_SerialManager serial_manager;
// GCS selection // GCS selection
GCS_Copter _gcs; // avoid using this; use gcs() GCS_Copter _gcs; // avoid using this; use gcs()
@ -310,14 +310,14 @@ private:
// altitude below which we do no navigation in auto takeoff // altitude below which we do no navigation in auto takeoff
float auto_takeoff_no_nav_alt_cm; float auto_takeoff_no_nav_alt_cm;
RCMapper rcmap = RCMapper::create(); RCMapper rcmap;
// board specific config // board specific config
AP_BoardConfig BoardConfig = AP_BoardConfig::create(); AP_BoardConfig BoardConfig;
#if HAL_WITH_UAVCAN #if HAL_WITH_UAVCAN
// board specific config for CAN bus // board specific config for CAN bus
AP_BoardConfig_CAN BoardConfig_CAN = AP_BoardConfig_CAN::create(); AP_BoardConfig_CAN BoardConfig_CAN;
#endif #endif
// receiver RSSI // receiver RSSI
@ -404,11 +404,11 @@ private:
uint32_t nav_delay_time_start; uint32_t nav_delay_time_start;
// Battery Sensors // Battery Sensors
AP_BattMonitor battery = AP_BattMonitor::create(); AP_BattMonitor battery;
#if FRSKY_TELEM_ENABLED == ENABLED #if FRSKY_TELEM_ENABLED == ENABLED
// FrSky telemetry support // FrSky telemetry support
AP_Frsky_Telem frsky_telemetry = AP_Frsky_Telem::create(ahrs, battery, rangefinder); AP_Frsky_Telem frsky_telemetry{ahrs, battery, rangefinder};
#endif #endif
// Variables for extended status MAVLink messages // Variables for extended status MAVLink messages
@ -428,7 +428,7 @@ private:
LowPassFilterFloat rc_throttle_control_in_filter; LowPassFilterFloat rc_throttle_control_in_filter;
// loop performance monitoring: // loop performance monitoring:
AP::PerfInfo perf_info = AP::PerfInfo::create(); AP::PerfInfo perf_info;
// 3D Location vectors // 3D Location vectors
// Current location of the vehicle (altitude is relative to home) // Current location of the vehicle (altitude is relative to home)
@ -496,72 +496,72 @@ private:
uint8_t auto_trim_counter; uint8_t auto_trim_counter;
// Reference to the relay object // Reference to the relay object
AP_Relay relay = AP_Relay::create(); AP_Relay relay;
// handle repeated servo and relay events // handle repeated servo and relay events
AP_ServoRelayEvents ServoRelayEvents = AP_ServoRelayEvents::create(relay); AP_ServoRelayEvents ServoRelayEvents{relay};
// Camera // Camera
#if CAMERA == ENABLED #if CAMERA == ENABLED
AP_Camera camera = AP_Camera::create(&relay, MASK_LOG_CAMERA, current_loc, ahrs); AP_Camera camera{&relay, MASK_LOG_CAMERA, current_loc, ahrs};
#endif #endif
// Camera/Antenna mount tracking and stabilisation stuff // Camera/Antenna mount tracking and stabilisation stuff
#if MOUNT == ENABLED #if MOUNT == ENABLED
// current_loc uses the baro/gps soloution for altitude rather than gps only. // current_loc uses the baro/gps soloution for altitude rather than gps only.
AP_Mount camera_mount = AP_Mount::create(ahrs, current_loc); AP_Mount camera_mount{ahrs, current_loc};
#endif #endif
// AC_Fence library to reduce fly-aways // AC_Fence library to reduce fly-aways
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
AC_Fence fence = AC_Fence::create(ahrs); AC_Fence fence{ahrs};
#endif #endif
#if AC_AVOID_ENABLED == ENABLED #if AC_AVOID_ENABLED == ENABLED
AC_Avoid avoid = AC_Avoid::create(ahrs, fence, g2.proximity, &g2.beacon); AC_Avoid avoid{ahrs, fence, g2.proximity, &g2.beacon};
#endif #endif
// Rally library // Rally library
#if AC_RALLY == ENABLED #if AC_RALLY == ENABLED
AP_Rally_Copter rally = AP_Rally_Copter::create(ahrs); AP_Rally_Copter rally{ahrs};
#endif #endif
// RSSI // RSSI
AP_RSSI rssi = AP_RSSI::create(); AP_RSSI rssi;
// Crop Sprayer // Crop Sprayer
#if SPRAYER == ENABLED #if SPRAYER == ENABLED
AC_Sprayer sprayer = AC_Sprayer::create(&inertial_nav); AC_Sprayer sprayer{&inertial_nav};
#endif #endif
// Parachute release // Parachute release
#if PARACHUTE == ENABLED #if PARACHUTE == ENABLED
AP_Parachute parachute = AP_Parachute::create(relay); AP_Parachute parachute{relay};
#endif #endif
// Landing Gear Controller // Landing Gear Controller
AP_LandingGear landinggear = AP_LandingGear::create(); AP_LandingGear landinggear;
// terrain handling // terrain handling
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN #if AP_TERRAIN_AVAILABLE && AC_TERRAIN
AP_Terrain terrain = AP_Terrain::create(ahrs, mission, rally); AP_Terrain terrain{ahrs, mission, rally};
#endif #endif
// Precision Landing // Precision Landing
#if PRECISION_LANDING == ENABLED #if PRECISION_LANDING == ENABLED
AC_PrecLand precland = AC_PrecLand::create(ahrs, inertial_nav); AC_PrecLand precland{ahrs, inertial_nav};
#endif #endif
// Pilot Input Management Library // Pilot Input Management Library
// Only used for Helicopter for now // Only used for Helicopter for now
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
AC_InputManager_Heli input_manager = AC_InputManager_Heli::create(); AC_InputManager_Heli input_manager;
#endif #endif
AP_ADSB adsb = AP_ADSB::create(ahrs); AP_ADSB adsb{ahrs};
// avoidance of adsb enabled vehicles (normally manned vehicles) // avoidance of adsb enabled vehicles (normally manned vehicles)
AP_Avoidance_Copter avoidance_adsb = AP_Avoidance_Copter::create(ahrs, adsb); AP_Avoidance_Copter avoidance_adsb{ahrs, adsb};
// use this to prevent recursion during sensor init // use this to prevent recursion during sensor init
bool in_mavlink_delay; bool in_mavlink_delay;

12
ArduCopter/avoidance_adsb.h
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@ -8,12 +8,11 @@
// functionality - for example, not doing anything while landed. // functionality - for example, not doing anything while landed.
class AP_Avoidance_Copter : public AP_Avoidance { class AP_Avoidance_Copter : public AP_Avoidance {
public: public:
static AP_Avoidance_Copter create(AP_AHRS &ahrs, class AP_ADSB &adsb) { AP_Avoidance_Copter(AP_AHRS &ahrs, class AP_ADSB &adsb)
return AP_Avoidance_Copter{ahrs, adsb}; : AP_Avoidance(ahrs, adsb)
{
} }
constexpr AP_Avoidance_Copter(AP_Avoidance_Copter &&other) = default;
/* Do not allow copies */ /* Do not allow copies */
AP_Avoidance_Copter(const AP_Avoidance_Copter &other) = delete; AP_Avoidance_Copter(const AP_Avoidance_Copter &other) = delete;
AP_Avoidance_Copter &operator=(const AP_Avoidance_Copter&) = delete; AP_Avoidance_Copter &operator=(const AP_Avoidance_Copter&) = delete;
@ -23,11 +22,6 @@ private:
void set_mode_else_try_RTL_else_LAND(control_mode_t mode); void set_mode_else_try_RTL_else_LAND(control_mode_t mode);
protected: protected:
AP_Avoidance_Copter(AP_AHRS &ahrs, class AP_ADSB &adsb)
: AP_Avoidance(ahrs, adsb)
{
}
// override avoidance handler // override avoidance handler
MAV_COLLISION_ACTION handle_avoidance(const AP_Avoidance::Obstacle *obstacle, MAV_COLLISION_ACTION requested_action) override; MAV_COLLISION_ACTION handle_avoidance(const AP_Avoidance::Obstacle *obstacle, MAV_COLLISION_ACTION requested_action) override;

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