global: use static method to construct AP_Rally

8 years ago · b05610870c
8 changed files with 5 additions and 13 deletions
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@ -69,9 +69,6 @@ Copter::Copter(void)
				@@ -69,9 +69,6 @@ Copter::Copter(void)
 #if AC_AVOID_ENABLED == ENABLED
    avoid(ahrs, inertial_nav, fence, g2.proximity, &g2.beacon),
 #endif
-#if AC_RALLY == ENABLED
-    rally(ahrs),
-#endif
 #if SPRAYER == ENABLED
    sprayer(&inertial_nav),
 #endif
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@ -560,9 +560,10 @@ private:
				@@ -560,9 +560,10 @@ private:
 #if AC_AVOID_ENABLED == ENABLED
    AC_Avoid avoid;
 #endif
+
    // Rally library
 #if AC_RALLY == ENABLED
-    AP_Rally_Copter rally;
+    AP_Rally_Copter rally = AP_Rally_Copter::create(ahrs);
 #endif

    // RSSI 
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@ -283,8 +283,8 @@ private:
				@@ -283,8 +283,8 @@ private:
 #endif

    // Rally Ponints
-    AP_Rally rally {ahrs};
-    
+    AP_Rally rally = AP_Rally::create(ahrs);
+
    // RSSI 
    AP_RSSI rssi;      

--- a/ArduSub/Sub.cpp
+++ b/ArduSub/Sub.cpp
@ -59,9 +59,6 @@ Sub::Sub(void)
				@@ -59,9 +59,6 @@ Sub::Sub(void)
          pmTest1(0),
          fast_loopTimer(0),
          mainLoop_count(0),
-#if AC_RALLY == ENABLED
-          rally(ahrs),
-#endif
 #if AP_TERRAIN_AVAILABLE && AC_TERRAIN
          terrain(ahrs, mission, rally),
 #endif
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@ -431,7 +431,7 @@ private:
				@@ -431,7 +431,7 @@ private:

    // Rally library
 #if AC_RALLY == ENABLED
-    AP_Rally rally;
+    AP_Rally rally = AP_Rally::create(ahrs);
 #endif

    // terrain handling
--- a/libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.cpp
+++ b/libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.cpp
@ -25,7 +25,6 @@
				@@ -25,7 +25,6 @@
 #include <AP_Math/AP_Math.h>
 #include <AP_Notify/AP_Notify.h>
 #include <AP_Notify/AP_BoardLED.h>
-#include <AP_Rally/AP_Rally.h>
 #include <AP_Scheduler/AP_Scheduler.h>
 #include <AP_BattMonitor/AP_BattMonitor.h>
 #include <AP_SerialManager/AP_SerialManager.h>
--- a/libraries/AP_GPS/examples/GPS_UBLOX_passthrough/GPS_UBLOX_passthrough.cpp
+++ b/libraries/AP_GPS/examples/GPS_UBLOX_passthrough/GPS_UBLOX_passthrough.cpp
@ -24,7 +24,6 @@
				@@ -24,7 +24,6 @@
 #include <AP_Terrain/AP_Terrain.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_Notify/AP_Notify.h>
-#include <AP_Rally/AP_Rally.h>
 #include <AP_Scheduler/AP_Scheduler.h>
 #include <AP_BattMonitor/AP_BattMonitor.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>
--- a/libraries/AP_InertialSensor/examples/VibTest/VibTest.cpp
+++ b/libraries/AP_InertialSensor/examples/VibTest/VibTest.cpp
@ -27,7 +27,6 @@
				@@ -27,7 +27,6 @@
 #include <AP_Notify/AP_Notify.h>
 #include <AP_BattMonitor/AP_BattMonitor.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>
-#include <AP_Rally/AP_Rally.h>

 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4