Remove FlightTaskManual from the inheritance structure

src/lib/flight_tasks/tasks/CMakeLists.txt

@@ -34,7 +34,6 @@
 # add the core Flight tasks that the additional flight tasks depend on
 add_subdirectory(FlightTask)
 add_subdirectory(Utility)
-add_subdirectory(Manual)
 add_subdirectory(Auto)
 add_subdirectory(AutoMapper)
 

src/lib/flight_tasks/tasks/Manual/CMakeLists.txt

@@ -1,39 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2018 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(FlightTaskManual
-	FlightTaskManual.cpp
-)
-
-target_link_libraries(FlightTaskManual PUBLIC FlightTask FlightTaskUtility)
-target_include_directories(FlightTaskManual PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

src/lib/flight_tasks/tasks/Manual/FlightTaskManual.cpp

@@ -1,60 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2018 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.
- *
- ****************************************************************************/
-/**
- * @file FlightTaskManual.cpp
- */
-
-#include "FlightTaskManual.hpp"
-#include <mathlib/mathlib.h>
-#include <float.h>
-#include <drivers/drv_hrt.h>
-
-using namespace matrix;
-using namespace time_literals;
-
-FlightTaskManual::FlightTaskManual() :
-	_sticks(this)
-{};
-
-bool FlightTaskManual::updateInitialize()
-{
-	bool ret = FlightTask::updateInitialize();
-
-	const bool sticks_available = _sticks.evaluateSticks(_time_stamp_current, _gear);
-
-	if (_sticks_data_required) {
-		ret = ret && sticks_available;
-	}
-
-	return ret;
-}

src/lib/flight_tasks/tasks/Manual/FlightTaskManual.hpp

@@ -1,56 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2018 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.
- *
- ****************************************************************************/
-
-/**
- * @file FlightTaskManual.hpp
- *
- * Linear and exponential map from stick inputs to range -1 and 1.
- *
- */
-
-#pragma once
-
-#include "FlightTask.hpp"
-#include "Sticks.hpp"
-
-class FlightTaskManual : public FlightTask
-{
-public:
-	FlightTaskManual();
-	virtual ~FlightTaskManual() = default;
-	bool updateInitialize() override;
-
-protected:
-	Sticks _sticks;
-	bool _sticks_data_required = true; /**< let inherited task-class define if it depends on stick data */
-};

src/lib/flight_tasks/tasks/ManualAltitude/CMakeLists.txt

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

src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp

@@ -42,9 +42,19 @@
 
 using namespace matrix;
 
+FlightTaskManualAltitude::FlightTaskManualAltitude() :
+	_sticks(this)
+{};
+
 bool FlightTaskManualAltitude::updateInitialize()
 {
-	bool ret = FlightTaskManual::updateInitialize();
+	bool ret = FlightTask::updateInitialize();
+
+	const bool sticks_available = _sticks.evaluateSticks(_time_stamp_current, _gear);
+
+	if (_sticks_data_required) {
+		ret = ret && sticks_available;
+	}
 
 	// in addition to manual require valid position and velocity in D-direction and valid yaw
 	return ret && PX4_ISFINITE(_position(2)) && PX4_ISFINITE(_velocity(2)) && PX4_ISFINITE(_yaw);
@@ -52,7 +62,7 @@ bool FlightTaskManualAltitude::updateInitialize()
 
 bool FlightTaskManualAltitude::activate(vehicle_local_position_setpoint_s last_setpoint)
 {
-	bool ret = FlightTaskManual::activate(last_setpoint);
+	bool ret = FlightTask::activate(last_setpoint);
 	_yaw_setpoint = NAN;
 	_yawspeed_setpoint = 0.f;
 	_acceleration_setpoint = Vector3f(0.f, 0.f, NAN); // altitude is controlled from position/velocity
@@ -365,7 +375,7 @@ bool FlightTaskManualAltitude::_checkTakeoff()
 
 bool FlightTaskManualAltitude::update()
 {
-	bool ret = FlightTaskManual::update();
+	bool ret = FlightTask::update();
 	_updateConstraintsFromEstimator();
 	_scaleSticks();
 	_updateSetpoints();

src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp

@@ -39,13 +39,14 @@
 
 #pragma once
 
-#include "FlightTaskManual.hpp"
+#include "FlightTask.hpp"
+#include "Sticks.hpp"
 #include <lib/ecl/AlphaFilter/AlphaFilter.hpp>
 
-class FlightTaskManualAltitude : public FlightTaskManual
+class FlightTaskManualAltitude : public FlightTask
 {
 public:
-	FlightTaskManualAltitude() = default;
+	FlightTaskManualAltitude();
 	virtual ~FlightTaskManualAltitude() = default;
 	bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
 	bool updateInitialize() override;
@@ -71,7 +72,10 @@ protected:
 	 */
 	void _updateAltitudeLock();
 
-	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManual,
+	Sticks _sticks;
+	bool _sticks_data_required = true; ///< let inherited task-class define if it depends on stick data
+
+	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
 					(ParamFloat<px4::params::MPC_HOLD_MAX_Z>) _param_mpc_hold_max_z,
 					(ParamInt<px4::params::MPC_ALT_MODE>) _param_mpc_alt_mode,
 					(ParamFloat<px4::params::MPC_HOLD_MAX_XY>) _param_mpc_hold_max_xy,