FlightTaskAutoMapper: move remaining members into FlightTaskAutoLineSmooth

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

@@ -40,6 +40,10 @@
 
 using namespace matrix;
 
+FlightTaskAutoLineSmoothVel::FlightTaskAutoLineSmoothVel() :
+	_sticks(this),
+	_stick_acceleration_xy(this)
+{}
 
 bool FlightTaskAutoLineSmoothVel::activate(const vehicle_local_position_setpoint_s &last_setpoint)
 {

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

@@ -42,11 +42,14 @@
 
 #include "FlightTaskAutoMapper.hpp"
 #include <motion_planning/PositionSmoothing.hpp>
+#include "Sticks.hpp"
+#include "StickAccelerationXY.hpp"
+#include "StickYaw.hpp"
 
 class FlightTaskAutoLineSmoothVel : public FlightTaskAutoMapper
 {
 public:
-	FlightTaskAutoLineSmoothVel() = default;
+	FlightTaskAutoLineSmoothVel();
 	virtual ~FlightTaskAutoLineSmoothVel() = default;
 
 	bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
@@ -92,6 +95,13 @@ protected:
 
 	void updateParams() override; /**< See ModuleParam class */
 
+	Sticks _sticks;
+	StickAccelerationXY _stick_acceleration_xy;
+	StickYaw _stick_yaw;
+	matrix::Vector3f _land_position;
+	float _land_heading;
+	WaypointType _type_previous{WaypointType::idle}; /**< Previous type of current target triplet. */
+
 	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAutoMapper,
 					(ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err, // yaw-error threshold
 					(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, // acceleration in flight

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

@@ -36,8 +36,3 @@
  */
 
 #include "FlightTaskAutoMapper.hpp"
-
-FlightTaskAutoMapper::FlightTaskAutoMapper() :
-	_sticks(this),
-	_stick_acceleration_xy(this)
-{}

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

@@ -41,14 +41,11 @@
 #pragma once
 
 #include "FlightTaskAuto.hpp"
-#include "Sticks.hpp"
-#include "StickAccelerationXY.hpp"
-#include "StickYaw.hpp"
 
 class FlightTaskAutoMapper : public FlightTaskAuto
 {
 public:
-	FlightTaskAutoMapper();
+	FlightTaskAutoMapper() = default;
 	virtual ~FlightTaskAutoMapper() = default;
 
 protected:
@@ -65,13 +62,4 @@ protected:
 					_param_mpc_tko_ramp_t, // time constant for smooth takeoff ramp
 					(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max
 				       );
-
-protected:
-	Sticks _sticks;
-	StickAccelerationXY _stick_acceleration_xy;
-	StickYaw _stick_yaw;
-	matrix::Vector3f _land_position;
-	float _land_heading;
-	WaypointType _type_previous{WaypointType::idle}; /**< Previous type of current target triplet. */
-
 };