From c6eb48009bc4488c5c926921c656bbcdfa1e3d9c Mon Sep 17 00:00:00 2001
From: Lucas De Marchi <lucas.demarchi@intel.com>
Date: Tue, 29 Aug 2017 16:06:26 -0700
Subject: [PATCH] global: use static method to construct AC_Fence

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

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index 1d5eb92714..227cb63e56 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_FENCE == ENABLED
-    fence(ahrs, inertial_nav),
-#endif
 #if AC_AVOID_ENABLED == ENABLED
     avoid(ahrs, inertial_nav, fence, g2.proximity, &g2.beacon),
 #endif
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 63195506e5..9806bf8096 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -554,8 +554,9 @@ private:
 
     // AC_Fence library to reduce fly-aways
 #if AC_FENCE == ENABLED
-    AC_Fence    fence;
+    AC_Fence fence = AC_Fence::create(ahrs, inertial_nav);
 #endif
+
 #if AC_AVOID_ENABLED == ENABLED
     AC_Avoid avoid;
 #endif
diff --git a/ArduSub/Sub.cpp b/ArduSub/Sub.cpp
index 19504a26ca..64d34725f8 100644
--- a/ArduSub/Sub.cpp
+++ b/ArduSub/Sub.cpp
@@ -59,9 +59,6 @@ Sub::Sub(void)
           pmTest1(0),
           fast_loopTimer(0),
           mainLoop_count(0),
-#if AC_FENCE == ENABLED
-          fence(ahrs, inertial_nav),
-#endif
 #if AC_RALLY == ENABLED
           rally(ahrs),
 #endif
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index d24cfa684b..97c142a41a 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -426,7 +426,7 @@ private:
 
     // AC_Fence library to reduce fly-aways
 #if AC_FENCE == ENABLED
-    AC_Fence    fence;
+    AC_Fence fence = AC_Fence::create(ahrs, inertial_nav);
 #endif
 
     // Rally library