FlightTaskAutoMapper: move update() into FlightTaskAutoLineSmooth

src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp

@@ -110,6 +110,70 @@ void FlightTaskAutoLineSmoothVel::_ekfResetHandlerHeading(float delta_psi)
 	_yaw_sp_prev += delta_psi;
 }
 
+bool FlightTaskAutoLineSmoothVel::update()
+{
+	bool ret = FlightTaskAuto::update();
+	// always reset constraints because they might change depending on the type
+	_setDefaultConstraints();
+
+	// The only time a thrust set-point is sent out is during
+	// idle. Hence, reset thrust set-point to NAN in case the
+	// vehicle exits idle.
+
+	if (_type_previous == WaypointType::idle) {
+		_acceleration_setpoint.setNaN();
+	}
+
+	// during mission and reposition, raise the landing gears but only
+	// if altitude is high enough
+	if (_highEnoughForLandingGear()) {
+		_gear.landing_gear = landing_gear_s::GEAR_UP;
+	}
+
+	switch (_type) {
+	case WaypointType::idle:
+		_prepareIdleSetpoints();
+		break;
+
+	case WaypointType::land:
+		_prepareLandSetpoints();
+		break;
+
+	case WaypointType::loiter:
+
+	/* fallthrought */
+	case WaypointType::position:
+		_preparePositionSetpoints();
+		break;
+
+	case WaypointType::takeoff:
+		_prepareTakeoffSetpoints();
+		break;
+
+	case WaypointType::velocity:
+		_prepareVelocitySetpoints();
+		break;
+
+	default:
+		_preparePositionSetpoints();
+		break;
+	}
+
+	if (_param_com_obs_avoid.get()) {
+		_obstacle_avoidance.updateAvoidanceDesiredSetpoints(_position_setpoint, _velocity_setpoint, (int)_type);
+		_obstacle_avoidance.injectAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
+				_yawspeed_setpoint);
+	}
+
+
+	_generateSetpoints();
+
+	// update previous type
+	_type_previous = _type;
+
+	return ret;
+}
+
 void FlightTaskAutoLineSmoothVel::_generateSetpoints()
 {
 	_checkEmergencyBraking();

src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp

@@ -51,6 +51,7 @@ public:
 
 	bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
 	void reActivate() override;
+	bool update() override;
 
 private:
 	PositionSmoothing _position_smoothing;
@@ -65,7 +66,7 @@ protected:
 	void _ekfResetHandlerVelocityZ(float delta_vz) override;
 	void _ekfResetHandlerHeading(float delta_psi) override;
 
-	void _generateSetpoints() override; /**< Generate setpoints along line. */
+	void _generateSetpoints(); /**< Generate setpoints along line. */
 	void _generateHeading();
 	void _checkEmergencyBraking();
 	bool _generateHeadingAlongTraj(); /**< Generates heading along trajectory. */

src/modules/flight_mode_manager/tasks/AutoMapper/FlightTaskAutoMapper.cpp

@@ -45,70 +45,6 @@ FlightTaskAutoMapper::FlightTaskAutoMapper() :
 	_stick_acceleration_xy(this)
 {}
 
-bool FlightTaskAutoMapper::update()
-{
-	bool ret = FlightTaskAuto::update();
-	// always reset constraints because they might change depending on the type
-	_setDefaultConstraints();
-
-	// The only time a thrust set-point is sent out is during
-	// idle. Hence, reset thrust set-point to NAN in case the
-	// vehicle exits idle.
-
-	if (_type_previous == WaypointType::idle) {
-		_acceleration_setpoint.setNaN();
-	}
-
-	// during mission and reposition, raise the landing gears but only
-	// if altitude is high enough
-	if (_highEnoughForLandingGear()) {
-		_gear.landing_gear = landing_gear_s::GEAR_UP;
-	}
-
-	switch (_type) {
-	case WaypointType::idle:
-		_prepareIdleSetpoints();
-		break;
-
-	case WaypointType::land:
-		_prepareLandSetpoints();
-		break;
-
-	case WaypointType::loiter:
-
-	/* fallthrought */
-	case WaypointType::position:
-		_preparePositionSetpoints();
-		break;
-
-	case WaypointType::takeoff:
-		_prepareTakeoffSetpoints();
-		break;
-
-	case WaypointType::velocity:
-		_prepareVelocitySetpoints();
-		break;
-
-	default:
-		_preparePositionSetpoints();
-		break;
-	}
-
-	if (_param_com_obs_avoid.get()) {
-		_obstacle_avoidance.updateAvoidanceDesiredSetpoints(_position_setpoint, _velocity_setpoint, (int)_type);
-		_obstacle_avoidance.injectAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
-				_yawspeed_setpoint);
-	}
-
-
-	_generateSetpoints();
-
-	// update previous type
-	_type_previous = _type;
-
-	return ret;
-}
-
 void FlightTaskAutoMapper::_prepareIdleSetpoints()
 {
 	// Send zero thrust setpoint

src/modules/flight_mode_manager/tasks/AutoMapper/FlightTaskAutoMapper.hpp

@@ -50,12 +50,8 @@ class FlightTaskAutoMapper : public FlightTaskAuto
 public:
 	FlightTaskAutoMapper();
 	virtual ~FlightTaskAutoMapper() = default;
-	bool update() override;
 
 protected:
-
-	virtual void _generateSetpoints() = 0; /**< Generate velocity and position setpoint for following line. */
-
 	void _prepareIdleSetpoints();
 	void _prepareLandSetpoints();
 	void _prepareVelocitySetpoints();
@@ -77,7 +73,7 @@ protected:
 					(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max
 				       );
 
-private:
+protected:
 	Sticks _sticks;
 	StickAccelerationXY _stick_acceleration_xy;
 	StickYaw _stick_yaw;