global: use static method to construct AP_GPS

gChuNguyen · Sep 26, 2017 · 8094482 · 8094482
1 parent 2cb2727
commit 8094482
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Showing 11 changed files with 11 additions and 12 deletions.
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
@@ -151,7 +151,7 @@ class Rover : public AP_HAL::HAL::Callbacks {
     DataFlash_Class DataFlash;
 
     // sensor drivers
-    AP_GPS gps;
+    AP_GPS gps = AP_GPS::create();
     AP_Baro barometer = AP_Baro::create();
     Compass compass = Compass::create();
     AP_InertialSensor ins = AP_InertialSensor::create();

diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
@@ -104,7 +104,7 @@ class Tracker : public AP_HAL::HAL::Callbacks {
 
     DataFlash_Class DataFlash;
 
-    AP_GPS gps;
+    AP_GPS gps = AP_GPS::create();
 
     AP_Baro barometer = AP_Baro::create();
 

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -192,7 +192,7 @@ class Copter : public AP_HAL::HAL::Callbacks {
     // Dataflash
     DataFlash_Class DataFlash;
 
-    AP_GPS gps;
+    AP_GPS gps = AP_GPS::create();
 
     // flight modes convenience array
     AP_Int8 *flight_modes;

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
@@ -195,7 +195,7 @@ class Plane : public AP_HAL::HAL::Callbacks {
     int32_t pitch_limit_min_cd;
 
     // Sensors
-    AP_GPS gps;
+    AP_GPS gps = AP_GPS::create();
 
     // flight modes convenience array
     AP_Int8 *flight_modes = &g.flight_mode1;

diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
@@ -161,7 +161,7 @@ class Sub : public AP_HAL::HAL::Callbacks {
     // Dataflash
     DataFlash_Class DataFlash;
 
-    AP_GPS gps;
+    AP_GPS gps = AP_GPS::create();
 
     AP_LeakDetector leak_detector;
 

diff --git a/Tools/Replay/Replay.h b/Tools/Replay/Replay.h
@@ -60,7 +60,7 @@ class ReplayVehicle {
 
     AP_InertialSensor ins = AP_InertialSensor::create();
     AP_Baro barometer = AP_Baro::create();
-    AP_GPS gps;
+    AP_GPS gps = AP_GPS::create();
     Compass compass = Compass::create();
     AP_SerialManager serial_manager;
     RangeFinder rng {serial_manager, ROTATION_PITCH_270};

diff --git a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
@@ -17,7 +17,7 @@ static AP_InertialSensor ins = AP_InertialSensor::create();
 
 static Compass compass = Compass::create();
 
-AP_GPS gps;
+static AP_GPS gps = AP_GPS::create();
 static AP_Baro barometer = AP_Baro::create();
 AP_SerialManager serial_manager;
 

diff --git a/libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.cpp b/libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.cpp
@@ -41,8 +41,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 AP_BoardLED board_led;
 
 // This example uses GPS system. Create it.
-AP_GPS gps;
-
+static AP_GPS gps = AP_GPS::create();
 // Serial manager is needed for UART comunications
 AP_SerialManager serial_manager;
 

diff --git a/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp b/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp
@@ -16,7 +16,7 @@ class MissionTest {
 private:
     AP_InertialSensor ins = AP_InertialSensor::create();
     AP_Baro baro = AP_Baro::create();
-    AP_GPS  gps;
+    AP_GPS  gps = AP_GPS::create();
     Compass compass = Compass::create();
     AP_AHRS_DCM ahrs{ins, baro, gps};
 

diff --git a/libraries/AP_Module/examples/ModuleTest/ModuleTest.cpp b/libraries/AP_Module/examples/ModuleTest/ModuleTest.cpp
@@ -14,7 +14,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
 // sensor declaration
 static AP_InertialSensor ins = AP_InertialSensor::create();
-AP_GPS gps;
+static AP_GPS gps = AP_GPS::create();
 static AP_Baro baro = AP_Baro::create();
 AP_SerialManager serial_manager;
 

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
@@ -21,7 +21,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
 class DummyVehicle {
 public:
-    AP_GPS gps;
+    AP_GPS gps = AP_GPS::create();
     AP_Baro barometer = AP_Baro::create();
     Compass compass = Compass::create();
     AP_InertialSensor ins = AP_InertialSensor::create();