global: use static method to construct AP_AHRS_NavEKF

APMrover2/Rover.h

@@ -165,7 +165,7 @@ private:
 #if AP_AHRS_NAVEKF_AVAILABLE
     NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rangefinder);
     NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, rangefinder);
-    AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3};
+    AP_AHRS_NavEKF ahrs = AP_AHRS_NavEKF::create(ins, barometer, gps, EKF2, EKF3);
 #else
     AP_AHRS_DCM ahrs {ins, barometer, gps};
 #endif

AntennaTracker/Tracker.h

@@ -118,7 +118,7 @@ private:
 #if AP_AHRS_NAVEKF_AVAILABLE
     NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rng);
     NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, rng);
-    AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3};
+    AP_AHRS_NavEKF ahrs = AP_AHRS_NavEKF::create(ins, barometer, gps, EKF2, EKF3);
 #else
     AP_AHRS_DCM ahrs{ins, barometer, gps};
 #endif

ArduCopter/Copter.h

@@ -216,7 +216,7 @@ private:
     // Inertial Navigation EKF
     NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rangefinder);
     NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, rangefinder);
-    AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
+    AP_AHRS_NavEKF ahrs = AP_AHRS_NavEKF::create(ins, barometer, gps, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF);
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     SITL::SITL sitl;

ArduPlane/Plane.h

@@ -215,7 +215,7 @@ private:
 #if AP_AHRS_NAVEKF_AVAILABLE
     NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rangefinder);
     NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, rangefinder);
-    AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3};
+    AP_AHRS_NavEKF ahrs = AP_AHRS_NavEKF::create(ins, barometer, gps, EKF2, EKF3);
 #else
     AP_AHRS_DCM ahrs {ins, barometer, gps};
 #endif

ArduSub/Sub.h

@@ -186,7 +186,7 @@ private:
     // Inertial Navigation EKF
     NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rangefinder);
     NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, rangefinder);
-    AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
+    AP_AHRS_NavEKF ahrs = AP_AHRS_NavEKF::create(ins, barometer, gps, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF);
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     SITL::SITL sitl;

Tools/Replay/Replay.h

@@ -66,7 +66,7 @@ public:
     RangeFinder rng = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
     NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rng);
     NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, rng);
-    AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3};
+    AP_AHRS_NavEKF ahrs = AP_AHRS_NavEKF::create(ins, barometer, gps, EKF2, EKF3);
     AP_InertialNav_NavEKF inertial_nav{ahrs};
     AP_Vehicle::FixedWing aparm;
     AP_Airspeed airspeed;

libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp

@@ -28,15 +28,15 @@ public:
     RangeFinder sonar = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
     NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, sonar);
     NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, sonar);
-    AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3,
+    AP_AHRS_NavEKF ahrs = AP_AHRS_NavEKF::create(ins, barometer, gps, EKF2, EKF3,
-                        AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
+                                                 AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF);
 };
 
 static DummyVehicle vehicle;
 
 // choose which AHRS system to use
 // AP_AHRS_DCM  ahrs(ins, baro, gps);
-AP_AHRS_NavEKF ahrs(vehicle.ahrs);
+AP_AHRS_NavEKF &ahrs = vehicle.ahrs;
 
 void setup(void)
 {

libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp

@@ -27,8 +27,8 @@ public:
     AP_InertialSensor ins = AP_InertialSensor::create();
     AP_SerialManager serial_manager = AP_SerialManager::create();
     RangeFinder sonar = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
-    AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3,
+    AP_AHRS_NavEKF ahrs = AP_AHRS_NavEKF::create(ins, barometer, gps, EKF2, EKF3,
-                        AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
+                                                 AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF);
     NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, sonar);
     NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, sonar);
 };