global: use static method to construct AP_NavEKF2

APMrover2/Rover.h

@@ -163,7 +163,7 @@ private:
 
     // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
-    NavEKF2 EKF2{&ahrs, barometer, rangefinder};
+    NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rangefinder);
     NavEKF3 EKF3{&ahrs, barometer, rangefinder};
     AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3};
 #else

AntennaTracker/Tracker.h

@@ -116,7 +116,7 @@ private:
 
 // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
-    NavEKF2 EKF2{&ahrs, barometer, rng};
+    NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rng);
     NavEKF3 EKF3{&ahrs, barometer, rng};
     AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3};
 #else

ArduCopter/Copter.h

@@ -214,7 +214,7 @@ private:
     AP_RPM rpm_sensor = AP_RPM::create();
 
     // Inertial Navigation EKF
-    NavEKF2 EKF2{&ahrs, barometer, rangefinder};
+    NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rangefinder);
     NavEKF3 EKF3{&ahrs, barometer, rangefinder};
     AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
 

ArduPlane/Plane.h

@@ -213,7 +213,7 @@ private:
 
 // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
-    NavEKF2 EKF2{&ahrs, barometer, rangefinder};
+    NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rangefinder);
     NavEKF3 EKF3{&ahrs, barometer, rangefinder};
     AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3};
 #else

ArduSub/Sub.h

@@ -184,7 +184,7 @@ private:
 #endif
 
     // Inertial Navigation EKF
-    NavEKF2 EKF2 {&ahrs, barometer, rangefinder};
+    NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rangefinder);
     NavEKF3 EKF3 {&ahrs, barometer, rangefinder};
     AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
 

Tools/Replay/Replay.h

@@ -64,7 +64,7 @@ public:
     Compass compass = Compass::create();
     AP_SerialManager serial_manager = AP_SerialManager::create();
     RangeFinder rng = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
-    NavEKF2 EKF2{&ahrs, barometer, rng};
+    NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rng);
     NavEKF3 EKF3{&ahrs, barometer, rng};
     AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3};
     AP_InertialNav_NavEKF inertial_nav{ahrs};

libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp

@@ -26,7 +26,7 @@ static AP_SerialManager serial_manager = AP_SerialManager::create();
 class DummyVehicle {
 public:
     RangeFinder sonar = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
-    NavEKF2 EKF2{&ahrs, barometer, sonar};
+    NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, sonar);
     NavEKF3 EKF3{&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

@@ -29,7 +29,7 @@ public:
     RangeFinder sonar = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
     AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3,
                         AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
-    NavEKF2 EKF2{&ahrs, barometer, sonar};
+    NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, sonar);
     NavEKF3 EKF3{&ahrs, barometer, sonar};
 };