From e597a9c0a10651731f6ea596a8af8f628de7c782 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Wed, 8 Nov 2017 21:54:11 +0100
Subject: [PATCH] FlightTasks: fix review comments

---
 src/lib/FlightTasks/FlightTasks.hpp            | 10 +++++-----
 src/lib/FlightTasks/tasks/FlightTaskManual.cpp |  4 ++--
 src/lib/FlightTasks/tasks/FlightTaskManual.hpp |  2 +-
 3 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/lib/FlightTasks/FlightTasks.hpp b/src/lib/FlightTasks/FlightTasks.hpp
index 885d9b13d6..78c33b8011 100644
--- a/src/lib/FlightTasks/FlightTasks.hpp
+++ b/src/lib/FlightTasks/FlightTasks.hpp
@@ -67,7 +67,7 @@ public:
 		} else {
 			return 1;
 		}
-	};
+	}
 
 	/**
 	 * Get the output data from the current task
@@ -75,7 +75,7 @@ public:
 	const vehicle_local_position_setpoint_s &get_position_setpoint()
 	{
 		return _tasks[_current_task]->get_position_setpoint();
-	};
+	}
 
 	/**
 	 * Call this function initially to point all tasks to the general output data
@@ -83,7 +83,7 @@ public:
 	inline const vehicle_local_position_setpoint_s &operator()()
 	{
 		return get_position_setpoint();
-	};
+	}
 
 	/**
 	 * Switch to the next task in the available list (for testing)
@@ -92,7 +92,7 @@ public:
 	void switch_task()
 	{
 		switch_task(_current_task + 1);
-	};
+	}
 
 	/**
 	 * Switch to a specific task (for normal usage)
@@ -120,7 +120,7 @@ public:
 		/* something went wrong, no task running anymore */
 		_current_task = -1;
 		return 1;
-	};
+	}
 
 	/**
 	 * Get the number of the active task
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManual.cpp b/src/lib/FlightTasks/tasks/FlightTaskManual.cpp
index f6785395e7..8e77d88759 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManual.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManual.cpp
@@ -87,7 +87,7 @@ int FlightTaskManual::update()
 	velocity_setpoint = velocity_setpoint.emult(vel_scale);
 
 	/* smooth out velocity setpoint by slewrate and return it */
-	vel_sp_slewrate(velocity_setpoint, stick_xy, _sticks(3));
+	vel_sp_slewrate(stick_xy, _sticks(3), velocity_setpoint);
 	_set_velocity_setpoint(velocity_setpoint);
 
 	/* handle position and altitude hold */
@@ -146,7 +146,7 @@ void FlightTaskManual::reset_slewrate_xy()
 	_vel_sp_prev(1) = _velocity(1);
 }
 
-void FlightTaskManual::vel_sp_slewrate(Vector3f &vel_sp, const Vector2f &stick_xy, const float &stick_z)
+void FlightTaskManual::vel_sp_slewrate(const Vector2f &stick_xy, const float &stick_z, Vector3f &vel_sp)
 {
 	Vector2f vel_sp_xy(vel_sp(0), vel_sp(1));
 	const Vector2f vel_sp_prev_xy(_vel_sp_prev(0), _vel_sp_prev(1));
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManual.hpp b/src/lib/FlightTasks/tasks/FlightTaskManual.hpp
index f0b8eb6d0c..4106fc5dd0 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManual.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManual.hpp
@@ -133,7 +133,7 @@ private:
 	math::LowPassFilter2p _filter_roll_stick;
 	math::LowPassFilter2p _filter_pitch_stick;
 
-	void vel_sp_slewrate(matrix::Vector3f &vel_sp, const matrix::Vector2f &stick_xy, const float &stick_z);
+	void vel_sp_slewrate(const matrix::Vector2f &stick_xy, const float &stick_z, matrix::Vector3f &vel_sp);
 
 	void reset_slewrate_xy();