global: use static method to construct AP_Rally

ArduCopter/Copter.cpp

@@ -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

ArduCopter/Copter.h

@@ -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 

ArduPlane/Plane.h

@@ -283,8 +283,8 @@ private:
 #endif
 
     // Rally Ponints
-    AP_Rally rally {ahrs};
+    AP_Rally rally = AP_Rally::create(ahrs);
-    
+
     // RSSI 
     AP_RSSI rssi;      
 

ArduSub/Sub.cpp

@@ -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

ArduSub/Sub.h

@@ -431,7 +431,7 @@ private:
 
     // Rally library
 #if AC_RALLY == ENABLED
-    AP_Rally rally;
+    AP_Rally rally = AP_Rally::create(ahrs);
 #endif
 
     // terrain handling

libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.cpp

@@ -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>

libraries/AP_GPS/examples/GPS_UBLOX_passthrough/GPS_UBLOX_passthrough.cpp

@@ -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>

libraries/AP_InertialSensor/examples/VibTest/VibTest.cpp

@@ -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