Move Stick class into a globally available library

src/lib/CMakeLists.txt

@@ -71,6 +71,7 @@ add_subdirectory(rover_control EXCLUDE_FROM_ALL)
 add_subdirectory(rtl EXCLUDE_FROM_ALL)
 add_subdirectory(sensor_calibration EXCLUDE_FROM_ALL)
 add_subdirectory(slew_rate EXCLUDE_FROM_ALL)
+add_subdirectory(sticks EXCLUDE_FROM_ALL)
 add_subdirectory(stick_yaw EXCLUDE_FROM_ALL)
 add_subdirectory(systemlib EXCLUDE_FROM_ALL)
 add_subdirectory(system_identification EXCLUDE_FROM_ALL)

src/lib/sticks/CMakeLists.txt

@@ -0,0 +1,37 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(Sticks
+	Sticks.cpp
+)
+target_include_directories(Sticks PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

src/modules/flight_mode_manager/tasks/Auto/CMakeLists.txt

@@ -35,5 +35,5 @@ px4_add_library(FlightTaskAuto
 	FlightTaskAuto.cpp
 )
 
-target_link_libraries(FlightTaskAuto PUBLIC FlightTask FlightTaskUtility StickYaw WeatherVane)
+target_link_libraries(FlightTaskAuto PUBLIC FlightTask FlightTaskUtility Sticks StickYaw WeatherVane)
 target_include_directories(FlightTaskAuto PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

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

@@ -49,9 +49,9 @@
 #include <lib/mathlib/math/filter/AlphaFilter.hpp>
 #include <lib/motion_planning/HeadingSmoothing.hpp>
 #include <lib/motion_planning/PositionSmoothing.hpp>
+#include <lib/sticks/Sticks.hpp>
 #include <lib/stick_yaw/StickYaw.hpp>
 #include <lib/weather_vane/WeatherVane.hpp>
-#include "Sticks.hpp"
 #include "StickAccelerationXY.hpp"
 
 /**

src/modules/flight_mode_manager/tasks/AutoFollowTarget/FlightTaskAutoFollowTarget.hpp

@@ -44,7 +44,6 @@
 
 #include "FlightTaskAuto.hpp"
 #include "follow_target_estimator/TargetEstimator.hpp"
-#include "Sticks.hpp"
 
 #include <parameters/param.h>
 #include <mathlib/mathlib.h>
@@ -57,6 +56,7 @@
 #include <uORB/topics/vehicle_command.h>
 
 #include <lib/mathlib/math/filter/second_order_reference_model.hpp>
+#include <lib/sticks/Sticks.hpp>
 #include <motion_planning/VelocitySmoothing.hpp>
 
 // << Follow Target Behavior related constants >>

src/modules/flight_mode_manager/tasks/Descend/CMakeLists.txt

@@ -35,5 +35,5 @@ px4_add_library(FlightTaskDescend
 	FlightTaskDescend.cpp
 )
 
-target_link_libraries(FlightTaskDescend PUBLIC FlightTask FlightTaskUtility StickYaw)
+target_link_libraries(FlightTaskDescend PUBLIC FlightTask FlightTaskUtility Sticks StickYaw)
 target_include_directories(FlightTaskDescend PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

src/modules/flight_mode_manager/tasks/Descend/FlightTaskDescend.hpp

@@ -37,9 +37,9 @@
 
 #pragma once
 
+#include <lib/sticks/Sticks.hpp>
 #include <lib/stick_yaw/StickYaw.hpp>
 #include "FlightTask.hpp"
-#include "Sticks.hpp"
 #include "StickTiltXY.hpp"
 
 class FlightTaskDescend : public FlightTask

src/modules/flight_mode_manager/tasks/ManualAltitude/CMakeLists.txt

@@ -35,5 +35,5 @@ px4_add_library(FlightTaskManualAltitude
 	FlightTaskManualAltitude.cpp
 )
 
-target_link_libraries(FlightTaskManualAltitude PUBLIC FlightTask FlightTaskUtility StickYaw)
+target_link_libraries(FlightTaskManualAltitude PUBLIC FlightTask FlightTaskUtility Sticks StickYaw)
 target_include_directories(FlightTaskManualAltitude PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

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

@@ -40,8 +40,8 @@
 #pragma once
 
 #include <lib/stick_yaw/StickYaw.hpp>
+#include <lib/sticks/Sticks.hpp>
 #include "FlightTask.hpp"
-#include "Sticks.hpp"
 #include "StickTiltXY.hpp"
 #include <uORB/Subscription.hpp>
 

src/modules/flight_mode_manager/tasks/Utility/CMakeLists.txt

@@ -32,13 +32,12 @@
 ############################################################################
 
 px4_add_library(FlightTaskUtility
-	Sticks.cpp
 	StickAccelerationXY.cpp
 	StickTiltXY.cpp
 	Gimbal.cpp
 )
 
-target_link_libraries(FlightTaskUtility PUBLIC FlightTask hysteresis SlewRate motion_planning mathlib)
+target_link_libraries(FlightTaskUtility PUBLIC FlightTask hysteresis SlewRate Sticks motion_planning mathlib)
 target_include_directories(FlightTaskUtility PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
 px4_add_functional_gtest(SRC StickTiltXYTest.cpp LINKLIBS FlightTaskUtility)

src/modules/flight_mode_manager/tasks/Utility/Gimbal.hpp

@@ -48,7 +48,8 @@
 #include <uORB/topics/gimbal_manager_status.h>
 #include <uORB/topics/vehicle_command.h>
 
-#include "Sticks.hpp"
+#include <lib/sticks/Sticks.hpp>
+
 
 
 class Gimbal : public ModuleParams

src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp

@@ -34,7 +34,7 @@
 #include "StickAccelerationXY.hpp"
 
 #include <geo/geo.h>
-#include "Sticks.hpp"
+#include <lib/sticks/Sticks.hpp>
 
 using namespace matrix;
 

src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.cpp

@@ -34,7 +34,7 @@
 #include "StickTiltXY.hpp"
 
 #include <geo/geo.h>
-#include "Sticks.hpp"
+#include <lib/sticks/Sticks.hpp>
 
 using namespace matrix;