FlightTaskManualAltitude: use StickTiltXY for horizontal stick mapping

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

@@ -240,7 +240,7 @@ void FlightTaskAuto::_prepareLandSetpoints()
 	// User input assisted landing
 	if (_param_mpc_land_rc_help.get() && _sticks.checkAndUpdateStickInputs()) {
 		// Stick full up -1 -> stop, stick full down 1 -> double the speed
-		vertical_speed *= (1 + _sticks.getPositionExpo()(2));
+		vertical_speed *= (1 - _sticks.getThrottleZeroCenteredExpo());
 
 		// Only set a yawrate setpoint if weather vane is not active or the yaw stick is out of its dead-zone
 		if (!_weathervane.isActive() || fabsf(_sticks.getYawExpo()) > FLT_EPSILON) {
@@ -248,7 +248,7 @@ void FlightTaskAuto::_prepareLandSetpoints()
 						       _deltatime);
 		}
 
-		_stick_acceleration_xy.generateSetpoints(_sticks.getPositionExpo().slice<2, 1>(0, 0), _yaw, _land_heading, _position,
+		_stick_acceleration_xy.generateSetpoints(_sticks.getPitchRollExpo(), _yaw, _land_heading, _position,
 				_velocity_setpoint_feedback.xy(), _deltatime);
 		_stick_acceleration_xy.getSetpoints(_land_position, _velocity_setpoint, _acceleration_setpoint);
 

src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp

@@ -66,8 +66,7 @@ bool FlightTaskManualAcceleration::update()
 	_stick_yaw.generateYawSetpoint(_yawspeed_setpoint, _yaw_setpoint, _sticks.getYawExpo(), _yaw, _is_yaw_good_for_control,
 				       _deltatime);
 
-	_stick_acceleration_xy.generateSetpoints(_sticks.getPositionExpo().slice<2, 1>(0, 0), _yaw, _yaw_setpoint,
-			_position,
+	_stick_acceleration_xy.generateSetpoints(_sticks.getPitchRollExpo(), _yaw, _yaw_setpoint, _position,
 			_velocity_setpoint_feedback.xy(), _deltatime);
 	_stick_acceleration_xy.getSetpoints(_position_setpoint, _velocity_setpoint, _acceleration_setpoint);
 

src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp

@@ -118,7 +118,7 @@ void FlightTaskManualAltitude::_updateAltitudeLock()
 		float spd_xy = Vector2f(_velocity).length();
 
 		// Use presence of horizontal stick inputs as a transition criteria
-		float stick_xy = Vector2f(_sticks.getPositionExpo().slice<2, 1>(0, 0)).length();
+		float stick_xy = Vector2f(_sticks.getPitchRollExpo()).length();
 		bool stick_input = stick_xy > 0.001f;
 
 		if (_terrain_hold) {
@@ -326,25 +326,8 @@ void FlightTaskManualAltitude::_ekfResetHandlerHeading(float delta_psi)
 void FlightTaskManualAltitude::_updateSetpoints()
 {
 	_updateHeadingSetpoints(); // get yaw setpoint
-
-	// Thrust in xy are extracted directly from stick inputs. A magnitude of
-	// 1 means that maximum thrust along xy is demanded. A magnitude of 0 means no
-	// thrust along xy is demanded. The maximum thrust along xy depends on the thrust
-	// setpoint along z-direction, which is computed in PositionControl.cpp.
-
-	Vector2f sp(_sticks.getPosition().slice<2, 1>(0, 0));
-
-	_man_input_filter.setParameters(_deltatime, _param_mc_man_tilt_tau.get());
-	_man_input_filter.update(sp);
-	sp = _man_input_filter.getState();
-	_rotateIntoHeadingFrame(sp);
-
-	if (sp.longerThan(1.0f)) {
-		sp.normalize();
-	}
-
-	_acceleration_setpoint.xy() = sp * tanf(math::radians(_param_mpc_man_tilt_max.get())) * CONSTANTS_ONE_G;
-
+	_acceleration_setpoint.xy() = _stick_tilt_xy.generateAccelerationSetpoints(_sticks.getPitchRoll(), _deltatime, _yaw,
+				      _yaw_setpoint);
 	_updateAltitudeLock();
 	_respectGroundSlowdown();
 }

src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.hpp

@@ -42,6 +42,7 @@
 #include "FlightTask.hpp"
 #include <lib/mathlib/math/filter/AlphaFilter.hpp>
 #include "Sticks.hpp"
+#include "StickTiltXY.hpp"
 #include "StickYaw.hpp"
 #include <uORB/Subscription.hpp>
 
@@ -75,7 +76,9 @@ protected:
 	void _updateAltitudeLock();
 
 	Sticks _sticks{this};
+	StickTiltXY _stick_tilt_xy{this};
 	StickYaw _stick_yaw{this};
+
 	bool _sticks_data_required = true; ///< let inherited task-class define if it depends on stick data
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
@@ -89,8 +92,7 @@ protected:
 					(ParamFloat<px4::params::MPC_LAND_SPEED>)
 					_param_mpc_land_speed, /**< desired downwards speed when approaching the ground */
 					(ParamFloat<px4::params::MPC_TKO_SPEED>)
-					_param_mpc_tko_speed, /**< desired upwards speed when still close to the ground */
-					(ParamFloat<px4::params::MC_MAN_TILT_TAU>) _param_mc_man_tilt_tau
+					_param_mpc_tko_speed /**< desired upwards speed when still close to the ground */
 				       )
 private:
 	bool _isYawInput();
@@ -138,6 +140,4 @@ private:
 	 * _dist_to_ground_lock.
 	 */
 	float _dist_to_ground_lock = NAN;
-
-	AlphaFilter<matrix::Vector2f> _man_input_filter;
 };

src/modules/flight_mode_manager/tasks/ManualPosition/FlightTaskManualPosition.cpp

@@ -67,7 +67,7 @@ void FlightTaskManualPosition::_scaleSticks()
 	/* Use same scaling as for FlightTaskManualAltitude */
 	FlightTaskManualAltitude::_scaleSticks();
 
-	Vector2f stick_xy = _sticks.getPositionExpo().slice<2, 1>(0, 0);
+	Vector2f stick_xy = _sticks.getPitchRollExpo();
 
 	Sticks::limitStickUnitLengthXY(stick_xy);