FlightTask: Weather vane cleanup

Remove the entire external yaw handler, dynamic memory allocation,
pointer passing logic. Directly instanciate the weather vane instance
in the flight tasks that support it.

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

@@ -36,4 +36,4 @@ px4_add_library(FlightTaskManualAcceleration
 )
 target_include_directories(FlightTaskManualAcceleration PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
-target_link_libraries(FlightTaskManualAcceleration PUBLIC FlightTaskManualAltitudeSmoothVel FlightTaskUtility)
+target_link_libraries(FlightTaskManualAcceleration PUBLIC FlightTaskManualAltitudeSmoothVel FlightTaskUtility WeatherVane)

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

@@ -39,10 +39,6 @@
 
 using namespace matrix;
 
-FlightTaskManualAcceleration::FlightTaskManualAcceleration() :
-	_stick_acceleration_xy(this)
-{};
-
 bool FlightTaskManualAcceleration::activate(const trajectory_setpoint_s &last_setpoint)
 {
 	bool ret = FlightTaskManualAltitudeSmoothVel::activate(last_setpoint);
@@ -78,13 +74,15 @@ bool FlightTaskManualAcceleration::update()
 	_constraints.want_takeoff = _checkTakeoff();
 
 	// check if an external yaw handler is active and if yes, let it update the yaw setpoints
-	if (_weathervane_yaw_handler && _weathervane_yaw_handler->is_active()) {
+	_weathervane.update();
+
+	if (_weathervane.isActive()) {
 		_yaw_setpoint = NAN;
 
 		// only enable the weathervane to change the yawrate when position lock is active (and thus the pos. sp. are NAN)
 		if (PX4_ISFINITE(_position_setpoint(0)) && PX4_ISFINITE(_position_setpoint(1))) {
 			// vehicle is steady
-			_yawspeed_setpoint += _weathervane_yaw_handler->get_weathervane_yawrate();
+			_yawspeed_setpoint += _weathervane.getWeathervaneYawrate();
 		}
 	}
 

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

@@ -43,26 +43,22 @@
 #include "FlightTaskManualAltitudeSmoothVel.hpp"
 #include "StickAccelerationXY.hpp"
 #include "StickYaw.hpp"
+#include <lib/weather_vane/WeatherVane.hpp>
 
 class FlightTaskManualAcceleration : public FlightTaskManualAltitudeSmoothVel
 {
 public:
-	FlightTaskManualAcceleration();
+	FlightTaskManualAcceleration() = default;
 	virtual ~FlightTaskManualAcceleration() = default;
 	bool activate(const trajectory_setpoint_s &last_setpoint) override;
 	bool update() override;
 
-	/**
-	 * Sets an external yaw handler which can be used to implement a different yaw control strategy.
-	 */
-	void setYawHandler(WeatherVane *yaw_handler) override { _weathervane_yaw_handler = yaw_handler; }
-
 private:
 	void _ekfResetHandlerPositionXY(const matrix::Vector2f &delta_xy) override;
 	void _ekfResetHandlerVelocityXY(const matrix::Vector2f &delta_vxy) override;
 
-	StickAccelerationXY _stick_acceleration_xy;
+	StickAccelerationXY _stick_acceleration_xy{this};
 	StickYaw _stick_yaw;
 
-	WeatherVane *_weathervane_yaw_handler{nullptr}; /**< external weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind */
+	WeatherVane _weathervane{this}; /**< weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind */
 };