Move StickYaw class into a globally available library

src/lib/CMakeLists.txt

@@ -72,6 +72,7 @@ add_subdirectory(rover_control EXCLUDE_FROM_ALL)
 add_subdirectory(rtl EXCLUDE_FROM_ALL)
 add_subdirectory(sensor_calibration EXCLUDE_FROM_ALL)
 add_subdirectory(slew_rate EXCLUDE_FROM_ALL)
+add_subdirectory(stick_yaw EXCLUDE_FROM_ALL)
 add_subdirectory(systemlib EXCLUDE_FROM_ALL)
 add_subdirectory(system_identification EXCLUDE_FROM_ALL)
 add_subdirectory(tecs EXCLUDE_FROM_ALL)

src/lib/stick_yaw/CMakeLists.txt

@@ -0,0 +1,37 @@
+############################################################################
+#
+#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(StickYaw
+	StickYaw.cpp
+)
+target_include_directories(StickYaw PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

src/modules/flight_mode_manager/tasks/Auto/CMakeLists.txt

@@ -35,5 +35,5 @@ px4_add_library(FlightTaskAuto
 	FlightTaskAuto.cpp
 )
 
-target_link_libraries(FlightTaskAuto PUBLIC FlightTask FlightTaskUtility WeatherVane)
+target_link_libraries(FlightTaskAuto PUBLIC FlightTask FlightTaskUtility StickYaw WeatherVane)
 target_include_directories(FlightTaskAuto PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp

@@ -46,12 +46,12 @@
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/vehicle_status.h>
 #include <lib/geo/geo.h>
-#include <lib/weather_vane/WeatherVane.hpp>
 #include <lib/mathlib/math/filter/AlphaFilter.hpp>
 #include <lib/motion_planning/PositionSmoothing.hpp>
+#include <lib/stick_yaw/StickYaw.hpp>
+#include <lib/weather_vane/WeatherVane.hpp>
 #include "Sticks.hpp"
 #include "StickAccelerationXY.hpp"
-#include "StickYaw.hpp"
 
 /**
  * This enum has to agree with position_setpoint_s type definition

src/modules/flight_mode_manager/tasks/Descend/CMakeLists.txt

@@ -35,5 +35,5 @@ px4_add_library(FlightTaskDescend
 	FlightTaskDescend.cpp
 )
 
-target_link_libraries(FlightTaskDescend PUBLIC FlightTask FlightTaskUtility)
+target_link_libraries(FlightTaskDescend PUBLIC FlightTask FlightTaskUtility StickYaw)
 target_include_directories(FlightTaskDescend PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

src/modules/flight_mode_manager/tasks/Descend/FlightTaskDescend.hpp

@@ -37,10 +37,10 @@
 
 #pragma once
 
+#include <lib/stick_yaw/StickYaw.hpp>
 #include "FlightTask.hpp"
 #include "Sticks.hpp"
 #include "StickTiltXY.hpp"
-#include "StickYaw.hpp"
 
 class FlightTaskDescend : public FlightTask
 {

src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp

@@ -33,10 +33,9 @@
 
 #pragma once
 
+#include <lib/weather_vane/WeatherVane.hpp>
 #include "FlightTaskManualAltitudeSmoothVel.hpp"
 #include "StickAccelerationXY.hpp"
-#include "StickYaw.hpp"
-#include <lib/weather_vane/WeatherVane.hpp>
 
 class FlightTaskManualAcceleration : public FlightTaskManualAltitudeSmoothVel
 {

src/modules/flight_mode_manager/tasks/ManualAltitude/CMakeLists.txt

@@ -35,5 +35,5 @@ px4_add_library(FlightTaskManualAltitude
 	FlightTaskManualAltitude.cpp
 )
 
-target_link_libraries(FlightTaskManualAltitude PUBLIC FlightTask FlightTaskUtility)
+target_link_libraries(FlightTaskManualAltitude PUBLIC FlightTask FlightTaskUtility StickYaw)
 target_include_directories(FlightTaskManualAltitude PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.hpp

@@ -39,10 +39,10 @@
 
 #pragma once
 
+#include <lib/stick_yaw/StickYaw.hpp>
 #include "FlightTask.hpp"
 #include "Sticks.hpp"
 #include "StickTiltXY.hpp"
-#include "StickYaw.hpp"
 #include <uORB/Subscription.hpp>
 
 class FlightTaskManualAltitude : public FlightTask

src/modules/flight_mode_manager/tasks/Utility/CMakeLists.txt

@@ -35,7 +35,6 @@ px4_add_library(FlightTaskUtility
 	Sticks.cpp
 	StickAccelerationXY.cpp
 	StickTiltXY.cpp
-	StickYaw.cpp
 	Gimbal.cpp
 )