rename to just FightTaskl

src/modules/flight_mode_manager/CMakeLists.txt

@@ -40,7 +40,7 @@
 set(flight_tasks_all)
 list(APPEND flight_tasks_all
 	Auto
-	AutoPrecisionLanding
+	PrecisionLanding
 	Descend
 	Failsafe
 	ManualAcceleration

src/modules/flight_mode_manager/FlightModeManager.cpp

@@ -179,7 +179,7 @@ void FlightModeManager::start_flight_task()
 		// Take-over landing from navigator if precision landing is enabled
 		should_disable_task = false;
 
-		if (switchTask(FlightTaskIndex::AutoPrecisionLanding) != FlightTaskError::NoError) {
+		if (switchTask(FlightTaskIndex::PrecisionLanding) != FlightTaskError::NoError) {
 			PX4_INFO("Switching to precland flight task");
 			task_failure = true;
 		}

src/modules/flight_mode_manager/tasks/PrecisionLanding/CMakeLists.txt

@@ -31,9 +31,9 @@
 #
 ############################################################################
 
-px4_add_library(FlightTaskAutoPrecisionLanding
-FlightTaskAutoPrecisionLanding.cpp
+px4_add_library(FlightTaskPrecisionLanding
+FlightTaskPrecisionLanding.cpp
 )
 
-target_link_libraries(FlightTaskAutoPrecisionLanding PUBLIC FlightTaskAuto)
-target_include_directories(FlightTaskAutoPrecisionLanding PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+target_link_libraries(FlightTaskPrecisionLanding PUBLIC FlightTask)
+target_include_directories(FlightTaskPrecisionLanding PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

src/modules/flight_mode_manager/tasks/PrecisionLanding/FlightTaskPrecisionLanding.cpp

@@ -32,15 +32,16 @@
  ****************************************************************************/
 
 /**
- * @file FlightTaskAutoPrecisionLanding.cpp
+ * @file FlightTaskPrecisionLanding.cpp
+ *
  */
 
-#include "FlightTaskAutoPrecisionLanding.hpp"
+#include "FlightTaskPrecisionLanding.hpp"
 #include <mathlib/mathlib.h>
 
 using namespace matrix;
 
-bool FlightTaskAutoPrecisionLanding::activate(const trajectory_setpoint_s &last_setpoint)
+bool FlightTaskPrecisionLanding::activate(const trajectory_setpoint_s &last_setpoint)
 {
 	bool ret = FlightTask::activate(last_setpoint);
 	PX4_INFO("precland activated");
@@ -57,19 +58,19 @@ bool FlightTaskAutoPrecisionLanding::activate(const trajectory_setpoint_s &last_
 	return ret;
 }
 
-void FlightTaskAutoPrecisionLanding::do_state_transition(PRECLAND_STATE new_state)
+void FlightTaskPrecisionLanding::do_state_transition(PRECLAND_STATE new_state)
 {
 	_precland_state = new_state;
 	_state_start_time = hrt_absolute_time();
 }
 
-bool FlightTaskAutoPrecisionLanding::inside_acceptance_radius()
+bool FlightTaskPrecisionLanding::inside_acceptance_radius()
 {
-	// TODO: Reuse what FlightTaskAuto has...
-	return Vector3f(_position_setpoint - _position).norm() <= _param_pld_hacc_rad.get();
+	// TODO: Reuse what FlightTask has...
+	return matrix::Vector3f(_position_setpoint - _position).norm() <= _param_pld_hacc_rad.get();
 }
 
-bool FlightTaskAutoPrecisionLanding::precision_target_available()
+bool FlightTaskPrecisionLanding::precision_target_available()
 {
 	// TODO: Add timeout
 	const bool ever_received = _landing_target_pose.timestamp != 0;
@@ -77,9 +78,9 @@ bool FlightTaskAutoPrecisionLanding::precision_target_available()
 	return ever_received && !timed_out;
 }
 
-bool FlightTaskAutoPrecisionLanding::update()
+bool FlightTaskPrecisionLanding::update()
 {
-	// Get setpoints from FlightTaskAuto and later override if necessary
+	// Get setpoints from FlightTask and later override if necessary
 	bool ret = FlightTask::update();
 
 	// Fetch uorb

src/modules/flight_mode_manager/tasks/PrecisionLanding/FlightTaskPrecisionLanding.hpp

@@ -32,14 +32,14 @@
  ****************************************************************************/
 
 /**
- * @file FlightTaskAutoPrecisionLanding.hpp
+ * @file FlightTaskPrecisionLanding.hpp
  *
  * Flight task for better precision landing
  */
 
 #pragma once
 
-#include "FlightTaskAuto.hpp"
+#include "FlightTask.hpp"
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/landing_target_pose.h>
 #include <uORB/topics/precision_landing_status.h>
@@ -48,16 +48,17 @@
 #include <uORB/topics/follow_target_estimator.h>
 // #include <lib/ecl/geo/geo.h>
 #include <mathlib/mathlib.h>
+#include <lib/matrix/matrix/math.hpp>
 
 // TODO: Get the correct define from some header
 #define SEC2USEC 1000000.0f
 #define HOVER_SPEED_THRESHOLD 0.20f	// If drone has speed under this value it is considered to be hovering in place
 
-class FlightTaskAutoPrecisionLanding : public FlightTask
+class FlightTaskPrecisionLanding : public FlightTask
 {
 public:
-	FlightTaskAutoPrecisionLanding() = default;
-	virtual ~FlightTaskAutoPrecisionLanding() = default;
+	FlightTaskPrecisionLanding() = default;
+	virtual ~FlightTaskPrecisionLanding() = default;
 
 	bool activate(const trajectory_setpoint_s &last_setpoint) override;
 
@@ -102,7 +103,7 @@ private:
 	int _search_count = 0;
 	float _initial_yaw;
 	float _target_yaw;
-	Vector3f _initial_position;
+	matrix::Vector3f _initial_position;
 
 	orb_advert_t	_mavlink_log_pub{nullptr};
 	matrix::Vector3f _precision_target_ned = {NAN, NAN, NAN};