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/ManualPosition/CMakeLists.txt

@@ -39,6 +39,7 @@ px4_add_library(FlightTaskManualPosition
 target_link_libraries(FlightTaskManualPosition
 	PRIVATE
 		CollisionPrevention
+		WeatherVane
 	PUBLIC
 		FlightTaskManualAltitude
 )

src/modules/flight_mode_manager/tasks/ManualPosition/FlightTaskManualPosition.cpp

@@ -41,11 +41,6 @@
 
 using namespace matrix;
 
-FlightTaskManualPosition::FlightTaskManualPosition() : _collision_prevention(this)
-{
-
-}
-
 bool FlightTaskManualPosition::updateInitialize()
 {
 	bool ret = FlightTaskManualAltitude::updateInitialize();
@@ -141,14 +136,15 @@ void FlightTaskManualPosition::_updateSetpoints()
 
 	_updateXYlock(); // check for position lock
 
-	// check if an external yaw handler is active and if yes, let it update the yaw setpoints
-	if (_weathervane_yaw_handler != nullptr && _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/ManualPosition/FlightTaskManualPosition.hpp

@@ -41,23 +41,17 @@
 #pragma once
 
 #include <lib/collision_prevention/CollisionPrevention.hpp>
+#include <lib/weather_vane/WeatherVane.hpp>
 #include "FlightTaskManualAltitude.hpp"
 
 class FlightTaskManualPosition : public FlightTaskManualAltitude
 {
 public:
-	FlightTaskManualPosition();
-
+	FlightTaskManualPosition() = default;
 	virtual ~FlightTaskManualPosition() = default;
 	bool activate(const trajectory_setpoint_s &last_setpoint) override;
 	bool updateInitialize() 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; }
-
-
 protected:
 	void _updateXYlock(); /**< applies position lock based on stick and velocity */
 	void _updateSetpoints() override;
@@ -71,8 +65,6 @@ protected:
 private:
 	uint8_t _reset_counter{0}; /**< counter for estimator resets in xy-direction */
 
-	WeatherVane *_weathervane_yaw_handler =
-		nullptr;	/**< external weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind */
-
-	CollisionPrevention _collision_prevention;	/**< collision avoidance setpoint amendment */
+	WeatherVane _weathervane{this}; /**< weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind */
+	CollisionPrevention _collision_prevention{this}; /**< collision avoidance setpoint amendment */
 };