FlightTaskAuto: move in members from FlightTaskAutoLineSmoothVel

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

@@ -43,7 +43,9 @@ using namespace matrix;
 static constexpr float SIGMA_NORM	= 0.001f;
 
 FlightTaskAuto::FlightTaskAuto() :
-	_obstacle_avoidance(this)
+	_obstacle_avoidance(this),
+	_sticks(this),
+	_stick_acceleration_xy(this)
 {
 
 }

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

@@ -47,6 +47,10 @@
 #include <uORB/topics/vehicle_status.h>
 #include <lib/geo/geo.h>
 #include <lib/mathlib/math/filter/AlphaFilter.hpp>
+#include <lib/motion_planning/PositionSmoothing.hpp>
+#include "Sticks.hpp"
+#include "StickAccelerationXY.hpp"
+#include "StickYaw.hpp"
 
 // TODO: make this switchable in the board config, like a module
 #if CONSTRAINED_FLASH
@@ -119,6 +123,17 @@ protected:
 
 	ObstacleAvoidance _obstacle_avoidance; /**< class adjusting setpoints according to external avoidance module's input */
 
+	PositionSmoothing _position_smoothing;
+	Vector3f _unsmoothed_velocity_setpoint;
+	Sticks _sticks;
+	StickAccelerationXY _stick_acceleration_xy;
+	StickYaw _stick_yaw;
+	matrix::Vector3f _land_position;
+	float _land_heading;
+	WaypointType _type_previous{WaypointType::idle}; /**< Previous type of current target triplet. */
+	bool _is_emergency_braking_active{false};
+	bool _want_takeoff{false};
+
 	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
 					(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise,
 					(ParamFloat<px4::params::NAV_MC_ALT_RAD>)

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

@@ -40,11 +40,6 @@
 
 using namespace matrix;
 
-FlightTaskAutoLineSmoothVel::FlightTaskAutoLineSmoothVel() :
-	_sticks(this),
-	_stick_acceleration_xy(this)
-{}
-
 bool FlightTaskAutoLineSmoothVel::activate(const vehicle_local_position_setpoint_s &last_setpoint)
 {
 	bool ret = FlightTaskAuto::activate(last_setpoint);

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

@@ -41,25 +41,17 @@
 #pragma once
 
 #include "FlightTaskAuto.hpp"
-#include <motion_planning/PositionSmoothing.hpp>
-#include "Sticks.hpp"
-#include "StickAccelerationXY.hpp"
-#include "StickYaw.hpp"
 
 class FlightTaskAutoLineSmoothVel : public FlightTaskAuto
 {
 public:
-	FlightTaskAutoLineSmoothVel();
+	FlightTaskAutoLineSmoothVel() = default;
 	virtual ~FlightTaskAutoLineSmoothVel() = default;
 
 	bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
 	void reActivate() override;
 	bool update() override;
 
-private:
-	PositionSmoothing _position_smoothing;
-	Vector3f _unsmoothed_velocity_setpoint;
-
 protected:
 
 	/** Reset position or velocity setpoints in case of EKF reset event */
@@ -77,14 +69,11 @@ protected:
 
 	bool isTargetModified() const;
 
-	bool _is_emergency_braking_active{false};
-
 	void _prepareSetpoints(); /**< Generate velocity target points for the trajectory generator. */
 	void _updateTrajConstraints();
 
 	/** determines when to trigger a takeoff (ignored in flight) */
 	bool _checkTakeoff() override { return _want_takeoff; };
-	bool _want_takeoff{false};
 
 	void _prepareIdleSetpoints();
 	void _prepareLandSetpoints();
@@ -95,13 +84,6 @@ protected:
 
 	void updateParams() override; /**< See ModuleParam class */
 
-	Sticks _sticks;
-	StickAccelerationXY _stick_acceleration_xy;
-	StickYaw _stick_yaw;
-	matrix::Vector3f _land_position;
-	float _land_heading;
-	WaypointType _type_previous{WaypointType::idle}; /**< Previous type of current target triplet. */
-
 	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAuto,
 					(ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err, // yaw-error threshold
 					(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, // acceleration in flight