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FlightModeManager: move velocity control feedback into FlightTask

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This was only handled outside because FlightTaks lived in the
multicopter position controller which produces the data that was
needed but now it doesn't make sense anymore to handle this
subscription separately.

It's better to have it inside the base task to have the data available
on task activation sucht that e.g. Altitude mode can take over smoothly
from Position mode.
This commit is contained in:
Matthias Grob
2021-05-04 16:47:48 +02:00
parent c28533677d
commit ee87257a8d
4 changed files with 22 additions and 14 deletions
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src/modules/flight_mode_manager/FlightModeManager.hpp
-1
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@@ -144,7 +144,6 @@ private:
uORB::Subscription _takeoff_status_sub{ORB_ID(takeoff_status)};
uORB::Subscription _vehicle_attitude_setpoint_sub{ORB_ID(vehicle_attitude_setpoint)};
uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
uORB::Subscription _vehicle_local_position_setpoint_sub{ORB_ID(vehicle_local_position_setpoint)};
uORB::SubscriptionData<home_position_s> _home_position_sub{ORB_ID(home_position)};
uORB::SubscriptionData<vehicle_control_mode_s> _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
uORB::SubscriptionData<vehicle_land_detected_s> _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};