FlightTask: remove global to local map

src/lib/FlightTasks/tasks/FlightTask.cpp

@@ -61,14 +61,6 @@ bool FlightTask::_evaluateVehiclePosition()
 		_velocity = matrix::Vector3f(&_sub_vehicle_local_position->get().vx);
 		_yaw = _sub_vehicle_local_position->get().yaw;
 
-		/* Check if reference has changed and update. */
-		if (_sub_vehicle_local_position->get().ref_timestamp != _time_stamp_reference) {
-			map_projection_init(&_reference_position, _sub_vehicle_local_position->get().ref_lat,
-					    _sub_vehicle_local_position->get().ref_lon);
-			_reference_altitude = _sub_vehicle_local_position->get().ref_alt;
-			_time_stamp_reference = _sub_vehicle_local_position->get().ref_timestamp;
-		}
-
 		return true;
 
 	} else {

src/lib/FlightTasks/tasks/FlightTask.hpp

@@ -114,7 +114,6 @@ protected:
 	hrt_abstime _time_stamp_activate = 0; /**< time stamp when task was activated */
 	hrt_abstime _time_stamp_current = 0; /**< time stamp at the beginning of the current task update */
 	hrt_abstime _time_stamp_last = 0; /**< time stamp when task was last updated */
-	hrt_abstime _time_stamp_reference = 0; /**< time stamp when last reference update */
 
 	/* Current vehicle state */
 	matrix::Vector3f _position; /**< current vehicle position */
@@ -130,17 +129,17 @@ protected:
 	float _yaw_setpoint;
 	float _yawspeed_setpoint;
 
-	/* Current reference position */
-	map_projection_reference_s _reference_position{}; /**< structure used to project lat/lon setpoint into local frame */
-	float _reference_altitude = 0.0f;  /**< altitude relative to ground */
-
 	/**
 	 * Get the output data
 	 */
 	void _resetSetpoints();
 
-private:
+	/**
+	 *  Vehicle local position subscription
+	 *  TODO: Implement a message that is smaller than the
+	 *  current vehicle local position message
+	 */
 	uORB::Subscription<vehicle_local_position_s> *_sub_vehicle_local_position{nullptr};
 
-	bool _evaluateVehiclePosition();
+	virtual bool _evaluateVehiclePosition();
 };

src/lib/FlightTasks/tasks/FlightTaskAuto.cpp

@@ -143,7 +143,7 @@ bool FlightTaskAuto::_evaluateTriplets()
 
 	_type = (WaypointType)_sub_triplet_setpoint->get().current.type;
 
-	_prev_prev_wp = _prev_wp; // previous -1 is set to previsou
+	_prev_prev_wp = _prev_wp; // previous -1 is set to previous
 
 	if (_isFinite(_sub_triplet_setpoint->get().previous) && _sub_triplet_setpoint->get().previous.valid) {
 		map_projection_project(&_reference_position, _sub_triplet_setpoint->get().previous.lat,
@@ -173,3 +173,19 @@ bool FlightTaskAuto::_isFinite(const position_setpoint_s sp)
 {
 	return (PX4_ISFINITE(sp.lat) && PX4_ISFINITE(sp.lon) && PX4_ISFINITE(sp.alt));
 }
+
+bool FlightTaskAuto::_evaluateVehiclePosition()
+{
+	FlightTask::_evaluateVehiclePosition();
+
+	/* Check if reference has changed and update. */
+	if (_sub_vehicle_local_position->get().ref_timestamp != _time_stamp_reference) {
+		map_projection_init(&_reference_position,
+				    _sub_vehicle_local_position->get().ref_lat,
+				    _sub_vehicle_local_position->get().ref_lon);
+		_reference_altitude = _sub_vehicle_local_position->get().ref_alt;
+		_time_stamp_reference = _sub_vehicle_local_position->get().ref_timestamp;
+	}
+
+	return true;
+}

src/lib/FlightTasks/tasks/FlightTaskAuto.hpp

@@ -82,8 +82,13 @@ private:
 	control::BlockParamFloat _mc_cruise_default; /**< Default mc cruise speed*/
 	map_projection_reference_s _reference; /**< Reference frame from global to local */
 	uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
+	map_projection_reference_s _reference_position{}; /**< Structure used to project lat/lon setpoint into local frame */
+	float _reference_altitude = 0.0f;  /**< Altitude relative to ground */
+	hrt_abstime _time_stamp_reference = 0; /**< time stamp when last reference update */
 
 	bool _evaluateTriplets(); /**< Checks and sets triplets */
 	bool _isFinite(const position_setpoint_s sp);
 	void _updateReference();
+
+	bool _evaluateVehiclePosition() override; /**< Required for reference update */
 };