Flight Tasks: CMake/folder restructure (no code change)

put flight tasks in separate folder and create a lib for each
goal is to select tasks for targets (e.g. because of flash issue)

src/lib/FlightTasks/tasks/Manual/FlightTaskManual.hpp

@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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 FlightTaskManual.hpp
+ *
+ * Linear and exponential map from stick inputs to range -1 and 1.
+ *
+ */
+
+#pragma once
+
+#include "FlightTask.hpp"
+#include <uORB/topics/manual_control_setpoint.h>
+
+class FlightTaskManual : public FlightTask
+{
+public:
+	FlightTaskManual() = default;
+
+	virtual ~FlightTaskManual() = default;
+
+	bool initializeSubscriptions(SubscriptionArray &subscription_array) override;
+	bool applyCommandParameters(const vehicle_command_s &command) override { return FlightTask::applyCommandParameters(command); };
+	bool updateInitialize() override;
+
+protected:
+
+	bool _sticks_data_required = true; /**< let inherited task-class define if it depends on stick data */
+	matrix::Vector<float, 4> _sticks; /**< unmodified manual stick inputs */
+	matrix::Vector<float, 4> _sticks_expo; /**< modified manual sticks using expo function*/
+
+	float stickDeadzone() const { return _stick_dz.get(); }
+
+private:
+
+	bool _evaluateSticks(); /**< checks and sets stick inputs */
+	void _applyGearSwitch(uint8_t gswitch); /**< Sets gears according to switch */
+
+	uORB::Subscription<manual_control_setpoint_s> *_sub_manual_control_setpoint{nullptr};
+
+	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
+					(ParamFloat<px4::params::MPC_HOLD_DZ>) _stick_dz, /**< 0-deadzone around the center for the sticks */
+					(ParamFloat<px4::params::MPC_XY_MAN_EXPO>)
+					_xy_vel_man_expo, /**< ratio of exponential curve for stick input in xy direction */
+					(ParamFloat<px4::params::MPC_Z_MAN_EXPO>)
+					_z_vel_man_expo, /**< ratio of exponential curve for stick input in z direction */
+					(ParamFloat<px4::params::MPC_YAW_EXPO>)
+					_yaw_expo /**< ratio of exponential curve for stick input in yaw for modes except acro */
+				       )
+};