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flight_mode_manager: call direct parent instead of grandparent

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FlightTaskManualAcceleration and FlightTaskOrbit both inherit from
FlightTaskManualAltitudeSmoothVel but were calling FlightTask and
FlightTaskManualAltitude respectively, skipping the intermediate
parent's overrides (smoothing velocity init, parameter chain).

Fix the DEFINE_PARAMETERS_CUSTOM_PARENT macro argument and the
activate() call to use FlightTaskManualAltitudeSmoothVel.

Fixes bugprone-parent-virtual-call clang-tidy diagnostic.

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Ramon Roche 2026-02-09 15:10:11 -08:00
parent 83a4d648e3
commit 5d151c54a4
2 changed files with 2 additions and 2 deletions
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2
src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp
View File

@ -52,7 +52,7 @@ protected:
StickAccelerationXY _stick_acceleration_xy{this};
WeatherVane _weathervane{this}; /**< weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind */
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAltitudeSmoothVel,
(ParamFloat<px4::params::MPC_VEL_MANUAL>) _param_mpc_vel_manual,
(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor
)

2
src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
View File

@ -173,7 +173,7 @@ void FlightTaskOrbit::_sanitizeParams(float &radius, float &velocity) const
bool FlightTaskOrbit::activate(const trajectory_setpoint_s &last_setpoint)
{
bool ret = FlightTaskManualAltitude::activate(last_setpoint);
bool ret = FlightTaskManualAltitudeSmoothVel::activate(last_setpoint);
_currently_orbiting = false;
_orbit_radius = _radius_min;
_orbit_velocity = 1.f;