From c9fbf7b7227f19b9f5024c91e3bd2f644e6effd3 Mon Sep 17 00:00:00 2001 From: Lucas De Marchi Date: Wed, 30 Aug 2017 00:41:49 -0700 Subject: [PATCH] global: use static method to construct AP_NavEKF3 --- APMrover2/Rover.h | 2 +- AntennaTracker/Tracker.h | 2 +- ArduCopter/Copter.h | 2 +- ArduPlane/Plane.h | 2 +- ArduSub/Sub.h | 2 +- Tools/Replay/Replay.h | 2 +- libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp | 2 +- .../examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp | 2 +- 8 files changed, 8 insertions(+), 8 deletions(-) diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h index 011673587c..75e1353a4f 100644 --- a/APMrover2/Rover.h +++ b/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}; diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h index f53fcd295d..a20cbfdf3d 100644 --- a/AntennaTracker/Tracker.h +++ b/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}; diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h index b73a5c04f4..28a40547fe 100644 --- a/ArduCopter/Copter.h +++ b/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 diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h index d54aa49eb2..19bf2f7e7f 100644 --- a/ArduPlane/Plane.h +++ b/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}; diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h index b311bf5591..7bcb03a276 100644 --- a/ArduSub/Sub.h +++ b/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 diff --git a/Tools/Replay/Replay.h b/Tools/Replay/Replay.h index fb516c4efd..29f1965b53 100644 --- a/Tools/Replay/Replay.h +++ b/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; diff --git a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp index 9fb47f17ad..e6efa1916e 100644 --- a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp +++ b/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}; }; diff --git a/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp b/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp index 06550a49c4..0240c68d3a 100644 --- a/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp +++ b/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;