global: use static method to construct AP_NavEKF3

APMrover2/Rover.h

@@ -164,7 +164,7 @@ private:
     // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
     NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rangefinder);
-    NavEKF3 EKF3{&ahrs, barometer, rangefinder};
+    NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, rangefinder);
     AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3};
 #else
     AP_AHRS_DCM ahrs {ins, barometer, gps};

AntennaTracker/Tracker.h

@@ -117,7 +117,7 @@ private:
 // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
     NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rng);
-    NavEKF3 EKF3{&ahrs, barometer, rng};
+    NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, rng);
     AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3};
 #else
     AP_AHRS_DCM ahrs{ins, barometer, gps};

ArduCopter/Copter.h

@@ -215,7 +215,7 @@ private:
 
     // Inertial Navigation EKF
     NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rangefinder);
-    NavEKF3 EKF3{&ahrs, barometer, rangefinder};
+    NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, rangefinder);
     AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL

ArduPlane/Plane.h

@@ -214,7 +214,7 @@ private:
 // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
     NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rangefinder);
-    NavEKF3 EKF3{&ahrs, barometer, rangefinder};
+    NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, rangefinder);
     AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3};
 #else
     AP_AHRS_DCM ahrs {ins, barometer, gps};

ArduSub/Sub.h

@@ -185,7 +185,7 @@ private:
 
     // Inertial Navigation EKF
     NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rangefinder);
-    NavEKF3 EKF3 {&ahrs, barometer, rangefinder};
+    NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, rangefinder);
     AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL

Tools/Replay/Replay.h

@@ -65,7 +65,7 @@ public:
     AP_SerialManager serial_manager = AP_SerialManager::create();
     RangeFinder rng = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
     NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rng);
-    NavEKF3 EKF3{&ahrs, barometer, rng};
+    NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, rng);
     AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3};
     AP_InertialNav_NavEKF inertial_nav{ahrs};
     AP_Vehicle::FixedWing aparm;

libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp

@@ -27,7 +27,7 @@ class DummyVehicle {
 public:
     RangeFinder sonar = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
     NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, sonar);
-    NavEKF3 EKF3{&ahrs, barometer, sonar};
+    NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, sonar);
     AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3,
                         AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
 };

libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp

@@ -30,7 +30,7 @@ public:
     AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3,
                         AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
     NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, sonar);
-    NavEKF3 EKF3{&ahrs, barometer, sonar};
+    NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, sonar);
 };
 
 static DummyVehicle vehicle;