FlightTaskSport: created a simple child class of FlightTaskManual that can scale the velocity to a much higher value

src/lib/FlightTasks/FlightTasks.cpp

@@ -48,6 +48,10 @@ int FlightTasks::switchTask(int task_number)
 		_current_task = new (&_task_union.orbit) FlightTaskOrbit(this, "ORB");
 		break;
 
+	case 2:
+		_current_task = new (&_task_union.sport) FlightTaskSport(this, "SPO");
+		break;
+
 	case -1:
 		/* disable tasks is a success */
 		return 0;

src/lib/FlightTasks/FlightTasks.hpp

@@ -44,6 +44,7 @@
 #include "tasks/FlightTask.hpp"
 #include "tasks/FlightTaskManual.hpp"
 #include "tasks/FlightTaskOrbit.hpp"
+#include "tasks/FlightTaskSport.hpp"
 
 #include "SubscriptionArray.hpp"
 
@@ -120,6 +121,7 @@ private:
 
 		FlightTaskManual manual;
 		FlightTaskOrbit orbit;
+		FlightTaskSport sport;
 	} _task_union; /**< storage for the currently active task */
 
 	FlightTask *_current_task = nullptr;

src/lib/FlightTasks/tasks/FlightTaskSport.hpp

@@ -0,0 +1,62 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file FlightTaskOrbit.hpp
+ *
+ * Flight task for orbiting in a circle around a target position
+ *
+ * @author Matthias Grob <maetugr@gmail.com>
+ */
+
+#pragma once
+
+#include "FlightTaskManual.hpp"
+
+class FlightTaskSport : public FlightTaskManual
+{
+public:
+	FlightTaskSport(control::SuperBlock *parent, const char *name) :
+		FlightTaskManual(parent, name)
+	{ }
+
+	virtual ~FlightTaskSport() = default;
+
+protected:
+	void _scaleVelocity(matrix::Vector3f &velocity) override
+	{
+		const matrix::Vector3f velocity_scale(20.f, 20.f, 5.f);
+		velocity = velocity.emult(velocity_scale);
+	}
+
+};