From 0e27b5cbfa322b5201ecba808d117fb116cb2a9c Mon Sep 17 00:00:00 2001
From: Martina Rivizzigno <martina@rivizzigno.it>
Date: Wed, 6 Mar 2019 13:05:04 +0100
Subject: [PATCH] include libraries without the need for full path, make
 ObstacleAvoidance instance protected

---
 src/lib/FlightTasks/tasks/Auto/CMakeLists.txt           | 2 +-
 src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp       | 5 +++--
 src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp | 2 +-
 3 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/lib/FlightTasks/tasks/Auto/CMakeLists.txt b/src/lib/FlightTasks/tasks/Auto/CMakeLists.txt
index e3a4030f38..b59931cc85 100644
--- a/src/lib/FlightTasks/tasks/Auto/CMakeLists.txt
+++ b/src/lib/FlightTasks/tasks/Auto/CMakeLists.txt
@@ -35,5 +35,5 @@ px4_add_library(FlightTaskAuto
 	FlightTaskAuto.cpp
 )
 
-target_link_libraries(FlightTaskAuto PUBLIC FlightTask)
+target_link_libraries(FlightTaskAuto PUBLIC FlightTask FlightTaskUtility)
 target_include_directories(FlightTaskAuto PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
index 7ba922c4ef..0089f36212 100644
--- a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
+++ b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
@@ -45,7 +45,7 @@
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/vehicle_status.h>
 #include <lib/ecl/geo/geo.h>
-#include "lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp"
+#include "ObstacleAvoidance.hpp"
 
 /**
  * This enum has to agree with position_setpoint_s type definition
@@ -84,7 +84,6 @@ public:
 	 * Sets an external yaw handler which can be used to implement a different yaw control strategy.
 	 */
 	void setYawHandler(WeatherVane *ext_yaw_handler) override {_ext_yaw_handler = ext_yaw_handler;}
-	ObstacleAvoidance _obstacle_avoidance;
 
 protected:
 	void _setDefaultConstraints() override;
@@ -104,6 +103,8 @@ protected:
 	float _target_acceptance_radius = 0.0f; /**< Acceptances radius of the target */
 	int _mission_gear = landing_gear_s::GEAR_KEEP;
 
+	ObstacleAvoidance _obstacle_avoidance;
+
 	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
 					(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise,
 					(ParamFloat<px4::params::MPC_CRUISE_90>) _param_mpc_cruise_90, // speed at corner when angle is 90 degrees move to line
diff --git a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
index 6b4bfe0651..3b4a46a186 100644
--- a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
+++ b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
@@ -53,7 +53,7 @@
 
 #include <matrix/matrix/math.hpp>
 
-#include <lib/FlightTasks/tasks/FlightTask/SubscriptionArray.hpp>
+#include <SubscriptionArray.hpp>
 
 class ObstacleAvoidance : public ModuleParams
 {