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/ManualPosition/FlightTaskManualPosition.cpp

@@ -0,0 +1,152 @@
+/****************************************************************************
+ *
+ *   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 FlightTaskManualPosition.cpp
+ */
+
+#include "FlightTaskManualPosition.hpp"
+#include <mathlib/mathlib.h>
+#include <float.h>
+
+using namespace matrix;
+
+bool FlightTaskManualPosition::updateInitialize()
+{
+	bool ret = FlightTaskManualAltitude::updateInitialize();
+	// require valid position / velocity in xy
+	return ret && PX4_ISFINITE(_position(0))
+	       && PX4_ISFINITE(_position(1))
+	       && PX4_ISFINITE(_velocity(0))
+	       && PX4_ISFINITE(_velocity(1));
+}
+
+bool FlightTaskManualPosition::activate()
+{
+
+	// all requirements from altitude-mode still have to hold
+	bool ret = FlightTaskManualAltitude::activate();
+
+	// set task specific constraint
+	if (_constraints.speed_xy >= MPC_VEL_MANUAL.get()) {
+		_constraints.speed_xy = MPC_VEL_MANUAL.get();
+	}
+
+	_position_setpoint(0) = _position(0);
+	_position_setpoint(1) = _position(1);
+	_velocity_setpoint(0) = _velocity_setpoint(1) = 0.0f;
+	_velocity_scale = _constraints.speed_xy;
+
+	// for position-controlled mode, we need a valid position and velocity state
+	// in NE-direction
+	return ret;
+}
+
+void FlightTaskManualPosition::_scaleSticks()
+{
+	/* Use same scaling as for FlightTaskManualAltitude */
+	FlightTaskManualAltitude::_scaleSticks();
+
+	/* Constrain length of stick inputs to 1 for xy*/
+	Vector2f stick_xy(_sticks_expo(0), _sticks_expo(1));
+
+	float mag = math::constrain(stick_xy.length(), 0.0f, 1.0f);
+
+	if (mag > FLT_EPSILON) {
+		stick_xy = stick_xy.normalized() * mag;
+	}
+
+	// scale the stick inputs
+	if (PX4_ISFINITE(_sub_vehicle_local_position->get().vxy_max)) {
+		// estimator provides vehicle specific max
+
+		// use the minimum of the estimator and user specified limit
+		_velocity_scale = fminf(_constraints.speed_xy, _sub_vehicle_local_position->get().vxy_max);
+		// Allow for a minimum of 0.3 m/s for repositioning
+		_velocity_scale = fmaxf(_velocity_scale, 0.3f);
+
+	} else if (stick_xy.length() > 0.5f) {
+		// raise the limit at a constant rate up to the user specified value
+
+		if (_velocity_scale < _constraints.speed_xy) {
+			_velocity_scale += _deltatime * MPC_ACC_HOR_ESTM.get();
+
+		} else {
+			_velocity_scale = _constraints.speed_xy;
+
+		}
+	}
+
+	// scale velocity to its maximum limits
+	Vector2f vel_sp_xy = stick_xy * _velocity_scale;
+
+	/* Rotate setpoint into local frame. */
+	_rotateIntoHeadingFrame(vel_sp_xy);
+	_velocity_setpoint(0) = vel_sp_xy(0);
+	_velocity_setpoint(1) = vel_sp_xy(1);
+}
+
+void FlightTaskManualPosition::_updateXYlock()
+{
+	/* If position lock is not active, position setpoint is set to NAN.*/
+	const float vel_xy_norm = Vector2f(&_velocity(0)).length();
+	const bool apply_brake = Vector2f(&_velocity_setpoint(0)).length() < FLT_EPSILON;
+	const bool stopped = (MPC_HOLD_MAX_XY.get() < FLT_EPSILON || vel_xy_norm < MPC_HOLD_MAX_XY.get());
+
+	if (apply_brake && stopped && !PX4_ISFINITE(_position_setpoint(0))) {
+		_position_setpoint(0) = _position(0);
+		_position_setpoint(1) = _position(1);
+
+	} else if (PX4_ISFINITE(_position_setpoint(0)) && apply_brake) {
+		// Position is locked but check if a reset event has happened.
+		// We will shift the setpoints.
+		if (_sub_vehicle_local_position->get().xy_reset_counter
+		    != _reset_counter) {
+			_position_setpoint(0) = _position(0);
+			_position_setpoint(1) = _position(1);
+			_reset_counter = _sub_vehicle_local_position->get().xy_reset_counter;
+		}
+
+	} else {
+		/* don't lock*/
+		_position_setpoint(0) = NAN;
+		_position_setpoint(1) = NAN;
+	}
+}
+
+void FlightTaskManualPosition::_updateSetpoints()
+{
+	FlightTaskManualAltitude::_updateSetpoints(); // needed to get yaw and setpoints in z-direction
+	_thrust_setpoint *= NAN; // don't require any thrust setpoints
+	_updateXYlock(); // check for position lock
+}