PX4 structure

I am just beginning to look at the PX4 source code. Initial impression is looks fairly well structured (using C++ classes) – I am hoping there is an obvious Object Oriented design to the source code.

The one problem I have at the moment, I do not see where the C++ classes get instantiated. Generally in Real-time code, C++ classes are instantiated at startup and the destructors should never be called (do not use memory garbage collectors).

Are the C++ constructors calls created by the build process (cmake) ?


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