Remove FlightTaskAutoMapper, merged into AutoLineSmoothVel

src/lib/avoidance/ObstacleAvoidanceTest.cpp

@@ -68,7 +68,7 @@ TEST_F(ObstacleAvoidanceTest, instantiation) { ObstacleAvoidance oa(nullptr); }
 
 TEST_F(ObstacleAvoidanceTest, oa_enabled_healthy)
 {
-	// GIVEN: the flight controller setpoints from FlightTaskAutoMapper and a vehicle_trajectory_waypoint message coming
+	// GIVEN: the flight controller setpoints from FlightTaskAuto and a vehicle_trajectory_waypoint message coming
 	// from offboard
 	TestObstacleAvoidance oa;
 
@@ -104,7 +104,7 @@ TEST_F(ObstacleAvoidanceTest, oa_enabled_healthy)
 
 TEST_F(ObstacleAvoidanceTest, oa_enabled_healthy_bezier)
 {
-	// GIVEN: the flight controller setpoints from FlightTaskAutoMapper and a vehicle_trajectory_waypoint message coming
+	// GIVEN: the flight controller setpoints from FlightTaskAuto and a vehicle_trajectory_waypoint message coming
 	// from offboard
 	TestObstacleAvoidance oa;
 
@@ -147,7 +147,7 @@ TEST_F(ObstacleAvoidanceTest, oa_enabled_healthy_bezier)
 
 TEST_F(ObstacleAvoidanceTest, oa_enabled_not_healthy)
 {
-	// GIVEN: the flight controller setpoints from FlightTaskAutoMapper and a vehicle_trajectory_waypoint message
+	// GIVEN: the flight controller setpoints from FlightTaskAuto and a vehicle_trajectory_waypoint message
 	TestObstacleAvoidance oa;
 
 	vehicle_trajectory_waypoint_s message = empty_trajectory_waypoint;
@@ -177,7 +177,7 @@ TEST_F(ObstacleAvoidanceTest, oa_enabled_not_healthy)
 
 TEST_F(ObstacleAvoidanceTest, oa_desired)
 {
-	// GIVEN: the flight controller setpoints from FlightTaskAutoMapper and the waypoints from FLightTaskAuto
+	// GIVEN: the flight controller setpoints from FlightTaskAuto and the waypoints from FLightTaskAuto
 	TestObstacleAvoidance oa;
 
 	pos_sp = Vector3f(1.f, 1.2f, NAN);

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

@@ -35,5 +35,5 @@ px4_add_library(FlightTaskAutoLineSmoothVel
 	FlightTaskAutoLineSmoothVel.cpp
 )
 
-target_link_libraries(FlightTaskAutoLineSmoothVel PUBLIC FlightTaskAutoMapper FlightTaskUtility)
+target_link_libraries(FlightTaskAutoLineSmoothVel PUBLIC FlightTaskAuto FlightTaskUtility)
 target_include_directories(FlightTaskAutoLineSmoothVel PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp

@@ -79,7 +79,7 @@ bool FlightTaskAutoLineSmoothVel::activate(const vehicle_local_position_setpoint
 
 void FlightTaskAutoLineSmoothVel::reActivate()
 {
-	FlightTaskAutoMapper::reActivate();
+	FlightTaskAuto::reActivate();
 
 	// On ground, reset acceleration and velocity to zero
 	_position_smoothing.reset({0.f, 0.f, 0.f}, {0.f, 0.f, 0.7f}, _position);
@@ -298,7 +298,7 @@ void FlightTaskAutoLineSmoothVel::_updateTrajConstraints()
 
 		// The constraints are broken because they are used as hard limits by the position controller, so put this here
 		// until the constraints don't do things like cause controller integrators to saturate. Once the controller
-		// doesn't use z speed constraints, this can go in AutoMapper::_prepareTakeoffSetpoints(). Accel limit is to
+		// doesn't use z speed constraints, this can go in _prepareTakeoffSetpoints(). Accel limit is to
 		// emulate the motor ramp (also done in the controller) so that the controller can actually track the setpoint.
 		if (_type == WaypointType::takeoff &&  _dist_to_ground < _param_mpc_land_alt1.get()) {
 			z_vel_constraint = _param_mpc_tko_speed.get();

src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp

@@ -40,13 +40,13 @@
 
 #pragma once
 
-#include "FlightTaskAutoMapper.hpp"
+#include "FlightTaskAuto.hpp"
 #include <motion_planning/PositionSmoothing.hpp>
 #include "Sticks.hpp"
 #include "StickAccelerationXY.hpp"
 #include "StickYaw.hpp"
 
-class FlightTaskAutoLineSmoothVel : public FlightTaskAutoMapper
+class FlightTaskAutoLineSmoothVel : public FlightTaskAuto
 {
 public:
 	FlightTaskAutoLineSmoothVel();

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

@@ -1,39 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-px4_add_library(FlightTaskAutoMapper
-	FlightTaskAutoMapper.cpp
-)
-
-target_link_libraries(FlightTaskAutoMapper PUBLIC FlightTaskAuto)
-target_include_directories(FlightTaskAutoMapper PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

src/modules/flight_mode_manager/tasks/AutoMapper/FlightTaskAutoMapper.cpp

@@ -1,38 +0,0 @@
-/****************************************************************************
- *
- *   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 FlightAutoMapper.cpp
- */
-
-#include "FlightTaskAutoMapper.hpp"

src/modules/flight_mode_manager/tasks/AutoMapper/FlightTaskAutoMapper.hpp

@@ -1,51 +0,0 @@
-/****************************************************************************
- *
- *   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 FlightTaskAutoMapper.hpp
- *
- * Abstract Flight task which generates local setpoints
- * based on the triplet type.
- */
-
-#pragma once
-
-#include "FlightTaskAuto.hpp"
-
-class FlightTaskAutoMapper : public FlightTaskAuto
-{
-public:
-	FlightTaskAutoMapper() = default;
-	virtual ~FlightTaskAutoMapper() = default;
-
-};

src/modules/flight_mode_manager/tasks/CMakeLists.txt

@@ -35,7 +35,6 @@
 add_subdirectory(FlightTask)
 add_subdirectory(Utility)
 add_subdirectory(Auto)
-add_subdirectory(AutoMapper)
 
 # add all additional flight tasks
 foreach(task ${flight_tasks_all})