global: use static method to construct AP_Mission

This also move the initialization to be in the header for those that
weren't already to maintain consistency.

APMrover2/Rover.cpp

@@ -31,10 +31,6 @@ Rover::Rover(void) :
     modes(&g.mode1),
     L1_controller(ahrs, nullptr),
     nav_controller(&L1_controller),
-    mission(ahrs,
-            FUNCTOR_BIND_MEMBER(&Rover::start_command, bool, const AP_Mission::Mission_Command&),
-            FUNCTOR_BIND_MEMBER(&Rover::verify_command_callback, bool, const AP_Mission::Mission_Command&),
-            FUNCTOR_BIND_MEMBER(&Rover::exit_mission, void)),
     ServoRelayEvents(relay),
 #if CAMERA == ENABLED
     camera(&relay, MASK_LOG_CAMERA, current_loc, gps, ahrs),

APMrover2/Rover.h

@@ -179,7 +179,10 @@ private:
     AP_Navigation *nav_controller;
 
     // Mission library
-    AP_Mission mission;
+    AP_Mission mission = AP_Mission::create(ahrs,
+            FUNCTOR_BIND_MEMBER(&Rover::start_command, bool, const AP_Mission::Mission_Command&),
+            FUNCTOR_BIND_MEMBER(&Rover::verify_command_callback, bool, const AP_Mission::Mission_Command&),
+            FUNCTOR_BIND_MEMBER(&Rover::exit_mission, void));
 
 #if AP_AHRS_NAVEKF_AVAILABLE
     OpticalFlow optflow{ahrs};

ArduCopter/Copter.cpp

@@ -26,10 +26,6 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 Copter::Copter(void)
     : DataFlash(DataFlash_Class::create(fwver.fw_string, g.log_bitmask)),
     flight_modes(&g.flight_mode1),
-    mission(ahrs, 
-            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::exit_mission, void)),
     control_mode(STABILIZE),
     scaleLongDown(1),
     wp_bearing(0),

ArduCopter/Copter.h

@@ -223,7 +223,10 @@ private:
 #endif
 
     // Mission library
-    AP_Mission mission;
+    AP_Mission mission = AP_Mission::create(ahrs,
+            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::exit_mission, void));
 
     // Arming/Disarming mangement class
     AP_Arming_Copter arming {ahrs, barometer, compass, battery, inertial_nav, ins};

ArduPlane/Plane.h

@@ -599,10 +599,10 @@ private:
     float smoothed_airspeed;
 
     // Mission library
-    AP_Mission mission {ahrs, 
+    AP_Mission mission = AP_Mission::create(ahrs,
             FUNCTOR_BIND_MEMBER(&Plane::start_command_callback, bool, const AP_Mission::Mission_Command &),
             FUNCTOR_BIND_MEMBER(&Plane::verify_command_callback, bool, const AP_Mission::Mission_Command &),
-            FUNCTOR_BIND_MEMBER(&Plane::exit_mission_callback, void)};
+            FUNCTOR_BIND_MEMBER(&Plane::exit_mission_callback, void));
 
 
 #if PARACHUTE == ENABLED

ArduSub/Sub.cpp

@@ -25,10 +25,6 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
  */
 Sub::Sub(void)
     : DataFlash(DataFlash_Class::create(fwver.fw_string, g.log_bitmask)),
-          mission(ahrs,
-                  FUNCTOR_BIND_MEMBER(&Sub::start_command, bool, const AP_Mission::Mission_Command &),
-                  FUNCTOR_BIND_MEMBER(&Sub::verify_command_callback, bool, const AP_Mission::Mission_Command &),
-                  FUNCTOR_BIND_MEMBER(&Sub::exit_mission, void)),
           control_mode(MANUAL),
           motors(MAIN_LOOP_RATE),
           scaleLongDown(1),

ArduSub/Sub.h

@@ -193,7 +193,10 @@ private:
 #endif
 
     // Mission library
-    AP_Mission mission;
+    AP_Mission mission = AP_Mission::create(ahrs,
+            FUNCTOR_BIND_MEMBER(&Sub::start_command, bool, const AP_Mission::Mission_Command &),
+            FUNCTOR_BIND_MEMBER(&Sub::verify_command_callback, bool, const AP_Mission::Mission_Command &),
+            FUNCTOR_BIND_MEMBER(&Sub::exit_mission, void));
 
     // Optical flow sensor
 #if OPTFLOW == ENABLED

libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp

@@ -44,10 +44,10 @@ private:
     void run_replace_cmd_test();
     void run_max_cmd_test();
 
-    AP_Mission mission{ahrs,
+    AP_Mission mission = AP_Mission::create(ahrs,
             FUNCTOR_BIND_MEMBER(&MissionTest::start_cmd, bool, const AP_Mission::Mission_Command &),
             FUNCTOR_BIND_MEMBER(&MissionTest::verify_cmd, bool, const AP_Mission::Mission_Command &),
-            FUNCTOR_BIND_MEMBER(&MissionTest::mission_complete, void)};
+            FUNCTOR_BIND_MEMBER(&MissionTest::mission_complete, void));
 };
 
 static MissionTest missiontest;