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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
2026-02-12 21:20:27 -08:00
parent 83a4d648e3
commit 5d151c54a4
2 changed files with 2 additions and 2 deletions
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src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+1 -1
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@@ -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;