From e2fe36357a4f099dfe24aea131dc4a74da6bc608 Mon Sep 17 00:00:00 2001 From: Lucas De Marchi Date: Wed, 30 Aug 2017 00:28:19 -0700 Subject: [PATCH] global: use static method to construct AP_NavEKF2 --- 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 640355f5ad..011673587c 100644 --- a/APMrover2/Rover.h +++ b/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 diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h index 22f56ebc73..f53fcd295d 100644 --- a/AntennaTracker/Tracker.h +++ b/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 diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h index c1767c95e2..b73a5c04f4 100644 --- a/ArduCopter/Copter.h +++ b/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}; diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h index a6c7d157fc..d54aa49eb2 100644 --- a/ArduPlane/Plane.h +++ b/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 diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h index 9cd78134a7..b311bf5591 100644 --- a/ArduSub/Sub.h +++ b/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}; diff --git a/Tools/Replay/Replay.h b/Tools/Replay/Replay.h index aa7105ea86..fb516c4efd 100644 --- a/Tools/Replay/Replay.h +++ b/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}; diff --git a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp index f70bc8be2a..9fb47f17ad 100644 --- a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp +++ b/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}; 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 932a417a22..06550a49c4 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 @@ -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}; };