FlightTasks: Various review refactoring

src/lib/FlightTasks/FlightTasks.cpp

@@ -79,7 +79,7 @@ int FlightTasks::switchTask(int task_number)
 	return 1;
 }
 
-bool FlightTasks::_updateCommand()
+void FlightTasks::_updateCommand()
 {
 	/* lazy subscription to command topic */
 	if (_sub_vehicle_command < 0) {
@@ -91,19 +91,19 @@ bool FlightTasks::_updateCommand()
 	orb_check(_sub_vehicle_command, &updated);
 
 	if (!updated) {
-		return false;
+		return;
 	}
 
 	/* check if command is for flight task library */
 	struct vehicle_command_s command;
 	orb_copy(ORB_ID(vehicle_command), _sub_vehicle_command, &command);
 
-	if (!(command.command == vehicle_command_s::VEHICLE_CMD_FLIGHT_TASK)) {
-		return false;
+	if (command.command != vehicle_command_s::VEHICLE_CMD_FLIGHT_TASK) {
+		return;
 	}
 
 	/* evaluate command */
-	int switch_result = switchTask(int(command.param1));
+	int switch_result = switchTask(int(command.param1 + 0.5f));
 	uint8_t cmd_result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
 
 	/* if we are in the desired task */
@@ -138,6 +138,4 @@ bool FlightTasks::_updateCommand()
 		orb_publish(ORB_ID(vehicle_command_ack), _pub_vehicle_command_ack, &command_ack);
 
 	}
-
-	return true;
 }

src/lib/FlightTasks/FlightTasks.hpp

@@ -71,13 +71,12 @@ public:
 
 	/**
 	 * Get the output data from the current task
-	 * Only call when task is active!
+	 * @return output setpoint, to be executed by position control
 	 */
 	const vehicle_local_position_setpoint_s &getPositionSetpoint();
 
 	/**
 	 * Convenient operator to get the output data from the current task
-	 * Only call when task is active!
 	 */
 	inline const vehicle_local_position_setpoint_s &operator()() { return getPositionSetpoint(); }
 
@@ -121,7 +120,7 @@ private:
 
 		FlightTaskManual manual;
 		FlightTaskOrbit orbit;
-	} _task_union; /*< storage for the currently active task */
+	} _task_union; /**< storage for the currently active task */
 
 	FlightTask *_current_task = nullptr;
 	int _current_task_index = -1;
@@ -130,9 +129,8 @@ private:
 
 	/**
 	 * Check for vehicle commands (received via MAVLink), evaluate and acknowledge them
-	 * @return true if there was a new command, false if not
 	 */
-	bool _updateCommand();
-	int	_sub_vehicle_command = -1; /*< topic handle on which commands are received */
-	orb_advert_t _pub_vehicle_command_ack = nullptr; /*< topic handle to which commands get acknowledged */
+	void _updateCommand();
+	int _sub_vehicle_command = -1; /**< topic handle on which commands are received */
+	orb_advert_t _pub_vehicle_command_ack = nullptr; /**< topic handle to which commands get acknowledged */
 };

src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp

@@ -56,8 +56,7 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
 	const float &r = command.param3; /**< commanded radius */
 	const float &v = command.param4; /**< commanded velocity */
 
-	if (math::isInRange(r, 5.f, 50.f) &&
-	    fabs(v) < 10.f) {
+	if (math::isInRange(r, 5.f, 50.f) && fabs(v) < 10.f) {
 		_r = r;
 		_v = v;
 		return FlightTaskManual::applyCommandParameters(command);