global: use static method to construct AP_Board_Config{,_CAN}

APMrover2/Rover.h

@@ -136,11 +136,11 @@ private:
     RCMapper rcmap = RCMapper::create();
 
     // board specific config
-    AP_BoardConfig BoardConfig;
+    AP_BoardConfig BoardConfig = AP_BoardConfig::create();
 
 #if HAL_WITH_UAVCAN
     // board specific config for CAN bus
-    AP_BoardConfig_CAN BoardConfig_CAN;
+    AP_BoardConfig_CAN BoardConfig_CAN = AP_BoardConfig_CAN::create();
 #endif
 
     // primary control channels

AntennaTracker/Tracker.h

@@ -143,11 +143,11 @@ private:
     GCS_Tracker _gcs; // avoid using this; use gcs()
     GCS_Tracker &gcs() { return _gcs; }
 
-    AP_BoardConfig BoardConfig;
+    AP_BoardConfig BoardConfig = AP_BoardConfig::create();
 
 #if HAL_WITH_UAVCAN
     // board specific config for CAN bus
-    AP_BoardConfig_CAN BoardConfig_CAN;
+    AP_BoardConfig_CAN BoardConfig_CAN = AP_BoardConfig_CAN::create();
 #endif
 
     struct Location current_loc;

ArduCopter/Copter.h

@@ -317,11 +317,11 @@ private:
     RCMapper rcmap = RCMapper::create();
 
     // board specific config
-    AP_BoardConfig BoardConfig;
+    AP_BoardConfig BoardConfig = AP_BoardConfig::create();
 
 #if HAL_WITH_UAVCAN
     // board specific config for CAN bus
-    AP_BoardConfig_CAN BoardConfig_CAN;
+    AP_BoardConfig_CAN BoardConfig_CAN = AP_BoardConfig_CAN::create();
 #endif
 
     // receiver RSSI

ArduPlane/Plane.h

@@ -172,11 +172,11 @@ private:
     RCMapper rcmap = RCMapper::create();
 
     // board specific config
-    AP_BoardConfig BoardConfig;
+    AP_BoardConfig BoardConfig = AP_BoardConfig::create();
 
     // board specific config for CAN bus
 #if HAL_WITH_UAVCAN
-    AP_BoardConfig_CAN BoardConfig_CAN;
+    AP_BoardConfig_CAN BoardConfig_CAN = AP_BoardConfig_CAN::create();
 #endif
 
     // primary input channels

ArduSub/Sub.h

@@ -255,11 +255,11 @@ private:
 #endif
 
     // board specific config
-    AP_BoardConfig BoardConfig;
+    AP_BoardConfig BoardConfig = AP_BoardConfig::create();
 
 #if HAL_WITH_UAVCAN
     // board specific config for CAN bus
-    AP_BoardConfig_CAN BoardConfig_CAN;
+    AP_BoardConfig_CAN BoardConfig_CAN = AP_BoardConfig_CAN::create();
 #endif
 
     // Failsafe

libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp

@@ -13,6 +13,8 @@ void loop();
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
+
+static AP_BoardConfig board_config = AP_BoardConfig::create();
 static AP_InertialSensor ins = AP_InertialSensor::create();
 
 static Compass compass = Compass::create();
@@ -38,8 +40,7 @@ AP_AHRS_NavEKF ahrs(vehicle.ahrs);
 
 void setup(void)
 {
-    AP_BoardConfig{}.init();
-
+    board_config.init();
     ins.init(100);
     ahrs.init();
     serial_manager.init();

libraries/AP_Airspeed/examples/Airspeed/Airspeed.cpp

@@ -31,6 +31,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 float temperature;
 
 AP_Airspeed airspeed;
+static AP_BoardConfig board_config = AP_BoardConfig::create();
 
 namespace {
 // try to set the object value but provide diagnostic if it failed
@@ -53,7 +54,7 @@ void setup()
     set_object_value(&airspeed, airspeed.var_info, "ENABLE", 1);
     set_object_value(&airspeed, airspeed.var_info, "USE", 1);
 
-    AP_BoardConfig{}.init();
+    board_config.init();
 
     airspeed.init();
     airspeed.calibrate(false);

libraries/AP_Baro/examples/BARO_generic/BARO_generic.cpp

@@ -12,6 +12,7 @@ static AP_Baro barometer = AP_Baro::create();
 
 static uint32_t timer;
 static uint8_t counter;
+static AP_BoardConfig board_config = AP_BoardConfig::create();
 
 void setup();
 void loop();
@@ -20,7 +21,7 @@ void setup()
 {
     hal.console->printf("Barometer library test\n");
 
-    AP_BoardConfig{}.init();
+    board_config.init();
 
     hal.scheduler->delay(1000);
 

libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.cpp

@@ -9,6 +9,7 @@
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
+static AP_BoardConfig board_config = AP_BoardConfig::create();
 static Compass compass = Compass::create();
 
 uint32_t timer;
@@ -17,7 +18,7 @@ static void setup()
 {
     hal.console->printf("Compass library test\n");
 
-    AP_BoardConfig{}.init();  // initialise the board drivers
+    board_config.init();
 
     if (!compass.init()) {
         AP_HAL::panic("compass initialisation failed!");

libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.cpp

@@ -37,6 +37,8 @@ void loop();
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
+static AP_BoardConfig board_config = AP_BoardConfig::create();
+
 // create board led object
 AP_BoardLED board_led;
 
@@ -50,7 +52,7 @@ void setup()
 {
     hal.console->printf("GPS AUTO library test\n");
 
-    AP_BoardConfig{}.init();
+    board_config.init();
 
     // Initialise the leds
     board_led.init();

libraries/AP_InertialSensor/examples/INS_generic/INS_generic.cpp

@@ -14,7 +14,7 @@ static void display_offsets_and_scaling();
 static void run_test();
 
 // board specific config
-AP_BoardConfig BoardConfig;
+static AP_BoardConfig BoardConfig = AP_BoardConfig::create();
 
 void setup(void);
 void loop(void);

libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp

@@ -27,6 +27,7 @@ private:
     void five_second_call(void);
 };
 
+static AP_BoardConfig board_config = AP_BoardConfig::create();
 static SchedTest schedtest;
 
 #define SCHED_TASK(func, _interval_ticks, _max_time_micros) SCHED_TASK_CLASS(SchedTest, &schedtest, func, _interval_ticks, _max_time_micros)
@@ -46,7 +47,7 @@ const AP_Scheduler::Task SchedTest::scheduler_tasks[] = {
 void SchedTest::setup(void)
 {
 
-    AP_BoardConfig{}.init();
+    board_config.init();
 
     ins.init(scheduler.get_loop_rate_hz());