flight_mode_manager: merge with flight_tasks

src/modules/mc_pos_control/CMakeLists.txt

@@ -37,16 +37,12 @@ px4_add_module(
 	MODULE modules__mc_pos_control
 	MAIN mc_pos_control
 	COMPILE_FLAGS
-		-Wno-implicit-fallthrough # TODO: fix and remove
 	SRCS
 		MulticopterPositionControl.cpp
 		MulticopterPositionControl.hpp
 	DEPENDS
 		PositionControl
 		controllib
-		FlightTasks
 		git_ecl
 		ecl_geo
-		WeatherVane
-		CollisionPrevention
 	)

src/modules/mc_pos_control/MulticopterPositionControl.cpp

@@ -37,7 +37,6 @@
 #include <lib/mathlib/mathlib.h>
 #include <lib/matrix/matrix/math.hpp>
 
-using namespace time_literals;
 using namespace matrix;
 
 MulticopterPositionControl::MulticopterPositionControl(bool vtol) :
@@ -271,7 +270,7 @@ void MulticopterPositionControl::Run()
 
 				failsafe(time_stamp_now, setpoint, _states, !was_in_failsafe);
 				_control.setInputSetpoint(setpoint);
-				constraints = FlightTask::empty_constraints;
+				constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, false, {}};
 				_control.update(dt);
 			}
 

src/modules/mc_pos_control/MulticopterPositionControl.hpp

@@ -40,7 +40,6 @@
 #include <commander/px4_custom_mode.h>
 #include <drivers/drv_hrt.h>
 #include <lib/controllib/blocks.hpp>
-#include <lib/flight_tasks/FlightTasks.hpp>
 #include <lib/hysteresis/hysteresis.h>
 #include <lib/perf/perf_counter.h>
 #include <lib/systemlib/mavlink_log.h>
@@ -64,6 +63,8 @@
 
 #include "PositionControl/PositionControl.hpp"
 
+using namespace time_literals;
+
 class MulticopterPositionControl : public ModuleBase<MulticopterPositionControl>, public control::SuperBlock,
 	public ModuleParams, public px4::WorkItem
 {