From 4f42facefc06a2ac79157c62eb009c050b0cb6e2 Mon Sep 17 00:00:00 2001
From: Lucas De Marchi <lucas.demarchi@intel.com>
Date: Tue, 29 Aug 2017 16:37:43 -0700
Subject: [PATCH] global: use static method to construct AC_Avoid

---
 ArduCopter/Copter.cpp | 3 ---
 ArduCopter/Copter.h   | 2 +-
 ArduSub/Sub.cpp       | 3 ---
 ArduSub/Sub.h         | 8 ++++----
 4 files changed, 5 insertions(+), 11 deletions(-)

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index 73fa627a5b..fe74c38820 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -66,9 +66,6 @@ Copter::Copter(void)
     mainLoop_count(0),
     rtl_loiter_start_time(0),
     auto_trim_counter(0),
-#if AC_AVOID_ENABLED == ENABLED
-    avoid(ahrs, inertial_nav, fence, g2.proximity, &g2.beacon),
-#endif
 #if SPRAYER == ENABLED
     sprayer(&inertial_nav),
 #endif
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index ffe531ecd4..9d4cc4d8c1 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -558,7 +558,7 @@ private:
 #endif
 
 #if AC_AVOID_ENABLED == ENABLED
-    AC_Avoid avoid;
+    AC_Avoid avoid = AC_Avoid::create(ahrs, inertial_nav, fence, g2.proximity, &g2.beacon);
 #endif
 
     // Rally library
diff --git a/ArduSub/Sub.cpp b/ArduSub/Sub.cpp
index 224c3d625a..340fdf987d 100644
--- a/ArduSub/Sub.cpp
+++ b/ArduSub/Sub.cpp
@@ -51,9 +51,6 @@ Sub::Sub(void)
           pos_control(ahrs_view, inertial_nav, motors, attitude_control,
                       g.p_alt_hold, g.p_vel_z, g.pid_accel_z,
                       g.p_pos_xy, g.pi_vel_xy),
-#if AVOIDANCE_ENABLED == ENABLED
-          avoid(ahrs, inertial_nav, fence, g2.proximity),
-#endif
           wp_nav(inertial_nav, ahrs_view, pos_control, attitude_control),
           circle_nav(inertial_nav, ahrs_view, pos_control),
           pmTest1(0),
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index c6b160e46e..d0f3085043 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -390,10 +390,6 @@ private:
 
     AC_PosControl_Sub pos_control;
 
-#if AVOIDANCE_ENABLED == ENABLED
-    AC_Avoid avoid;
-#endif
-
     AC_WPNav wp_nav;
     AC_Circle circle_nav;
 
@@ -429,6 +425,10 @@ private:
     AC_Fence fence = AC_Fence::create(ahrs, inertial_nav);
 #endif
 
+#if AVOIDANCE_ENABLED == ENABLED
+    AC_Avoid avoid = AC_Avoid::create(ahrs, inertial_nav, fence, g2.proximity, &g2.beacon);
+#endif
+
     // Rally library
 #if AC_RALLY == ENABLED
     AP_Rally rally = AP_Rally::create(ahrs);