FlightTask: rename and move setCruisingSpeed() -> overrideCruiseSpeed()

src/modules/flight_mode_manager/FlightModeManager.cpp

@@ -447,7 +447,7 @@ void FlightModeManager::handleCommand()
 			if ((command.command == vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED)
 			    && (static_cast<uint8_t>(command.param1 + .5f) == vehicle_command_s::SPEED_TYPE_GROUNDSPEED)
 			    && (command.param2 > 0.f)) {
-				_current_task.task->setCruisingSpeed(command.param2);
+				_current_task.task->overrideCruiseSpeed(command.param2);
 			}
 		}
 	}

src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp

@@ -223,6 +223,12 @@ bool FlightTaskAuto::update()
 	return ret;
 }
 
+void FlightTaskAuto::overrideCruiseSpeed(const float cruise_speed_m_s)
+{
+	_mc_cruise_speed = cruise_speed_m_s;
+	_commanded_speed_ts = hrt_absolute_time();
+}
+
 void FlightTaskAuto::_prepareLandSetpoints()
 {
 	_velocity_setpoint.setNaN(); // Don't take over any smoothed velocity setpoint
@@ -345,7 +351,7 @@ bool FlightTaskAuto::_evaluateTriplets()
 
 	_type = (WaypointType)_sub_triplet_setpoint.get().current.type;
 
-	// Override a commanded cruise speed if the cruise speed from the triplet is valid and more recent
+	// Prioritize cruise speed from the triplet when it's valid and more recent than the previously commanded cruise speed
 	const float cruise_speed_from_triplet = _sub_triplet_setpoint.get().current.cruising_speed;
 
 	if (PX4_ISFINITE(cruise_speed_from_triplet) && cruise_speed_from_triplet >= 0

src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp

@@ -92,17 +92,11 @@ public:
 	bool updateInitialize() override;
 	bool update() override;
 
-	bool setCruisingSpeed(const float cruising_speed_m_s) override
-	{
-		_mc_cruise_speed = cruising_speed_m_s;
-		_commanded_speed_ts = hrt_absolute_time();
-		return true;
-	}
-
 	/**
 	 * Sets an external yaw handler which can be used to implement a different yaw control strategy.
 	 */
 	void setYawHandler(WeatherVane *ext_yaw_handler) override {_ext_yaw_handler = ext_yaw_handler;}
+	void overrideCruiseSpeed(const float cruise_speed_m_s) override;
 
 protected:
 	matrix::Vector2f _getTargetVelocityXY(); /**< only used for follow-me and only here because of legacy reason.*/

src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp

@@ -167,6 +167,7 @@ public:
 	 * This method does nothing, each flighttask which wants to use the yaw handler needs to override this method.
 	 */
 	virtual void setYawHandler(WeatherVane *ext_yaw_handler) {}
+	virtual void overrideCruiseSpeed(const float cruise_speed_m_s) {}
 
 	void updateVelocityControllerFeedback(const matrix::Vector3f &vel_sp,
 					      const matrix::Vector3f &acc_sp)
@@ -175,8 +176,6 @@ public:
 		_acceleration_setpoint_feedback = acc_sp;
 	}
 
-	virtual bool setCruisingSpeed(const float cruising_speed_m_s) { return false; }
-
 protected:
 	uORB::SubscriptionData<vehicle_local_position_s> _sub_vehicle_local_position{ORB_ID(vehicle_local_position)};
 	uORB::SubscriptionData<home_position_s> _sub_home_position{ORB_ID(home_position)};