FlightTask - Rename state_prev to last_setpoint

src/lib/FlightTasks/FlightTasks.cpp

@@ -65,7 +65,7 @@ int FlightTasks::switchTask(FlightTaskIndex new_task_index)
 	}
 
 	// Save current setpoints for the nex FlightTask
-	vehicle_local_position_setpoint_s current_state = getPositionSetpoint();
+	vehicle_local_position_setpoint_s last_setpoint = getPositionSetpoint();
 
 	if (_initTask(new_task_index)) {
 		// invalid task
@@ -88,7 +88,7 @@ int FlightTasks::switchTask(FlightTaskIndex new_task_index)
 	_subscription_array.forcedUpdate(); // make sure data is available for all new subscriptions
 
 	// activation failed
-	if (!_current_task.task->updateInitialize() || !_current_task.task->activate(current_state)) {
+	if (!_current_task.task->updateInitialize() || !_current_task.task->activate(last_setpoint)) {
 		_current_task.task->~FlightTask();
 		_current_task.task = nullptr;
 		_current_task.index = FlightTaskIndex::None;

src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp

@@ -77,9 +77,9 @@ bool FlightTaskAuto::initializeSubscriptions(SubscriptionArray &subscription_arr
 	return true;
 }
 
-bool FlightTaskAuto::activate(vehicle_local_position_setpoint_s state_prev)
+bool FlightTaskAuto::activate(vehicle_local_position_setpoint_s last_setpoint)
 {
-	bool ret = FlightTask::activate(state_prev);
+	bool ret = FlightTask::activate(last_setpoint);
 	_position_setpoint = _position;
 	_velocity_setpoint = _velocity;
 	_yaw_setpoint = _yaw_sp_prev = _yaw;

src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp

@@ -78,7 +78,7 @@ public:
 
 	virtual ~FlightTaskAuto() = default;
 	bool initializeSubscriptions(SubscriptionArray &subscription_array) override;
-	bool activate(vehicle_local_position_setpoint_s state_prev) override;
+	bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
 	bool updateInitialize() override;
 	bool updateFinalize() override;
 

src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp

@@ -41,20 +41,20 @@
 
 using namespace matrix;
 
-bool FlightTaskAutoLineSmoothVel::activate(vehicle_local_position_setpoint_s state_prev)
+bool FlightTaskAutoLineSmoothVel::activate(vehicle_local_position_setpoint_s last_setpoint)
 {
-	bool ret = FlightTaskAutoMapper2::activate(state_prev);
+	bool ret = FlightTaskAutoMapper2::activate(last_setpoint);
 
-	checkSetpoints(state_prev);
-	const Vector3f accel_prev{state_prev.acc_x, state_prev.acc_y, state_prev.acc_z};
-	const Vector3f vel_prev = Vector3f(state_prev.vx, state_prev.vy, state_prev.vz);
-	const Vector3f pos_prev = Vector3f(state_prev.x, state_prev.y, state_prev.z);
+	checkSetpoints(last_setpoint);
+	const Vector3f accel_prev(last_setpoint.acc_x, last_setpoint.acc_y, last_setpoint.acc_z);
+	const Vector3f vel_prev(last_setpoint.vx, last_setpoint.vy, last_setpoint.vz);
+	const Vector3f pos_prev(last_setpoint.x, last_setpoint.y, last_setpoint.z);
 
 	for (int i = 0; i < 3; ++i) {
 		_trajectory[i].reset(accel_prev(i), vel_prev(i), pos_prev(i));
 	}
 
-	_yaw_sp_prev = state_prev.yaw;
+	_yaw_sp_prev = last_setpoint.yaw;
 	_updateTrajConstraints();
 	_initEkfResetCounters();
 

src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp

@@ -49,7 +49,7 @@ public:
 	FlightTaskAutoLineSmoothVel() = default;
 	virtual ~FlightTaskAutoLineSmoothVel() = default;
 
-	bool activate(vehicle_local_position_setpoint_s state_prev) override;
+	bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
 	void reActivate() override;
 
 protected:

src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp

@@ -40,9 +40,9 @@
 
 using namespace matrix;
 
-bool FlightTaskAutoMapper::activate(vehicle_local_position_setpoint_s state_prev)
+bool FlightTaskAutoMapper::activate(vehicle_local_position_setpoint_s last_setpoint)
 {
-	bool ret = FlightTaskAuto::activate(state_prev);
+	bool ret = FlightTaskAuto::activate(last_setpoint);
 	_reset();
 	return ret;
 }

src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.hpp

@@ -47,7 +47,7 @@ class FlightTaskAutoMapper : public FlightTaskAuto
 public:
 	FlightTaskAutoMapper() = default;
 	virtual ~FlightTaskAutoMapper() = default;
-	bool activate(vehicle_local_position_setpoint_s state_prev) override;
+	bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
 	bool update() override;
 
 protected:

src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp

@@ -40,9 +40,9 @@
 
 using namespace matrix;
 
-bool FlightTaskAutoMapper2::activate(vehicle_local_position_setpoint_s state_prev)
+bool FlightTaskAutoMapper2::activate(vehicle_local_position_setpoint_s last_setpoint)
 {
-	bool ret = FlightTaskAuto::activate(state_prev);
+	bool ret = FlightTaskAuto::activate(last_setpoint);
 	_reset();
 	return ret;
 }

src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.hpp

@@ -47,7 +47,7 @@ class FlightTaskAutoMapper2 : public FlightTaskAuto
 public:
 	FlightTaskAutoMapper2() = default;
 	virtual ~FlightTaskAutoMapper2() = default;
-	bool activate(vehicle_local_position_setpoint_s state_prev) override;
+	bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
 	bool update() override;
 
 protected:

src/lib/FlightTasks/tasks/Failsafe/FlightTaskFailsafe.cpp

@@ -36,9 +36,9 @@
 
 #include "FlightTaskFailsafe.hpp"
 
-bool FlightTaskFailsafe::activate(vehicle_local_position_setpoint_s state_prev)
+bool FlightTaskFailsafe::activate(vehicle_local_position_setpoint_s last_setpoint)
 {
-	bool ret = FlightTask::activate(state_prev);
+	bool ret = FlightTask::activate(last_setpoint);
 	_position_setpoint = _position;
 	_velocity_setpoint.zero();
 	_thrust_setpoint = matrix::Vector3f(0.0f, 0.0f, -_param_mpc_thr_hover.get() * 0.6f);

src/lib/FlightTasks/tasks/Failsafe/FlightTaskFailsafe.hpp

@@ -47,7 +47,7 @@ public:
 
 	virtual ~FlightTaskFailsafe() = default;
 	bool update() override;
-	bool activate(vehicle_local_position_setpoint_s state_prev) override;
+	bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
 
 private:
 	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,

src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp

@@ -22,7 +22,7 @@ bool FlightTask::initializeSubscriptions(SubscriptionArray &subscription_array)
 	return true;
 }
 
-bool FlightTask::activate(vehicle_local_position_setpoint_s state_prev)
+bool FlightTask::activate(vehicle_local_position_setpoint_s last_setpoint)
 {
 	_resetSetpoints();
 	_setDefaultConstraints();

src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp

@@ -79,7 +79,7 @@ public:
 	 * @param state of the previous task
 	 * @return true on success, false on error
 	 */
-	virtual bool activate(vehicle_local_position_setpoint_s state_prev);
+	virtual bool activate(vehicle_local_position_setpoint_s last_setpoint);
 
 	/**
 	 * Call this to reset an active Flight Task

src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp

@@ -61,9 +61,9 @@ bool FlightTaskManualAltitude::updateInitialize()
 	return ret && PX4_ISFINITE(_position(2)) && PX4_ISFINITE(_velocity(2)) && PX4_ISFINITE(_yaw);
 }
 
-bool FlightTaskManualAltitude::activate(vehicle_local_position_setpoint_s state_prev)
+bool FlightTaskManualAltitude::activate(vehicle_local_position_setpoint_s last_setpoint)
 {
-	bool ret = FlightTaskManual::activate(state_prev);
+	bool ret = FlightTaskManual::activate(last_setpoint);
 	_yaw_setpoint = NAN;
 	_yawspeed_setpoint = 0.0f;
 	_thrust_setpoint = matrix::Vector3f(0.0f, 0.0f, NAN); // altitude is controlled from position/velocity

src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp

@@ -48,7 +48,7 @@ public:
 	FlightTaskManualAltitude() = default;
 	virtual ~FlightTaskManualAltitude() = default;
 	bool initializeSubscriptions(SubscriptionArray &subscription_array) override;
-	bool activate(vehicle_local_position_setpoint_s state_prev) override;
+	bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
 	bool updateInitialize() override;
 	bool update() override;
 

src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp

@@ -41,14 +41,14 @@
 
 using namespace matrix;
 
-bool FlightTaskManualAltitudeSmoothVel::activate(vehicle_local_position_setpoint_s state_prev)
+bool FlightTaskManualAltitudeSmoothVel::activate(vehicle_local_position_setpoint_s last_setpoint)
 {
-	bool ret = FlightTaskManualAltitude::activate(state_prev);
+	bool ret = FlightTaskManualAltitude::activate(last_setpoint);
 
 	// Check if the previous FlightTask provided setpoints
-	checkSetpoints(state_prev);
+	checkSetpoints(last_setpoint);
 
-	_smoothing.reset(state_prev.acc_z, state_prev.vz, state_prev.z);
+	_smoothing.reset(last_setpoint.acc_z, last_setpoint.vz, last_setpoint.z);
 
 	_initEkfResetCounters();
 	_resetPositionLock();

src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp

@@ -48,7 +48,7 @@ public:
 	FlightTaskManualAltitudeSmoothVel() = default;
 	virtual ~FlightTaskManualAltitudeSmoothVel() = default;
 
-	bool activate(vehicle_local_position_setpoint_s state_prev) override;
+	bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
 	void reActivate() override;
 
 protected:

src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.cpp

@@ -65,10 +65,10 @@ bool FlightTaskManualPosition::updateInitialize()
 	       && PX4_ISFINITE(_velocity(1));
 }
 
-bool FlightTaskManualPosition::activate(vehicle_local_position_setpoint_s state_prev)
+bool FlightTaskManualPosition::activate(vehicle_local_position_setpoint_s last_setpoint)
 {
 	// all requirements from altitude-mode still have to hold
-	bool ret = FlightTaskManualAltitude::activate(state_prev);
+	bool ret = FlightTaskManualAltitude::activate(last_setpoint);
 
 	_constraints.tilt = math::radians(_param_mpc_tiltmax_air.get());
 

src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.hpp

@@ -50,7 +50,7 @@ public:
 
 	virtual ~FlightTaskManualPosition() = default;
 	bool initializeSubscriptions(SubscriptionArray &subscription_array) override;
-	bool activate(vehicle_local_position_setpoint_s state_prev) override;
+	bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
 	bool updateInitialize() override;
 
 	/**

src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp

@@ -38,9 +38,9 @@
 
 using namespace matrix;
 
-bool FlightTaskManualPositionSmoothVel::activate(vehicle_local_position_setpoint_s state_prev)
+bool FlightTaskManualPositionSmoothVel::activate(vehicle_local_position_setpoint_s last_setpoint)
 {
-	bool ret = FlightTaskManualPosition::activate(state_prev);
+	bool ret = FlightTaskManualPosition::activate(last_setpoint);
 
 	// Check if the previous FlightTask provided setpoints
 	checkSetpoints(last_setpoint);

src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp

@@ -49,7 +49,7 @@ public:
 
 	virtual ~FlightTaskManualPositionSmoothVel() = default;
 
-	bool activate(vehicle_local_position_setpoint_s state_prev) override;
+	bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
 	void reActivate() override;
 
 protected:

src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp

@@ -64,9 +64,9 @@ bool FlightTaskOffboard::updateInitialize()
 	       && PX4_ISFINITE(_velocity(1));
 }
 
-bool FlightTaskOffboard::activate(vehicle_local_position_setpoint_s state_prev)
+bool FlightTaskOffboard::activate(vehicle_local_position_setpoint_s last_setpoint)
 {
-	bool ret = FlightTask::activate(state_prev);
+	bool ret = FlightTask::activate(last_setpoint);
 	_position_setpoint = _position;
 	_velocity_setpoint.setZero();
 	_position_lock.setAll(NAN);

src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.hpp

@@ -49,7 +49,7 @@ public:
 	virtual ~FlightTaskOffboard() = default;
 	bool initializeSubscriptions(SubscriptionArray &subscription_array) override;
 	bool update() override;
-	bool activate(vehicle_local_position_setpoint_s state_prev) override;
+	bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
 	bool updateInitialize() override;
 
 protected:

src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp

@@ -147,9 +147,9 @@ bool FlightTaskOrbit::checkAcceleration(float r, float v, float a)
 	return v * v < a * r;
 }
 
-bool FlightTaskOrbit::activate(vehicle_local_position_setpoint_s state_prev)
+bool FlightTaskOrbit::activate(vehicle_local_position_setpoint_s last_setpoint)
 {
-	bool ret = FlightTaskManualAltitudeSmooth::activate(state_prev);
+	bool ret = FlightTaskManualAltitudeSmooth::activate(last_setpoint);
 	_r = _radius_min;
 	_v =  1.f;
 	_center = Vector2f(_position);

src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.hpp

@@ -51,7 +51,7 @@ public:
 	virtual ~FlightTaskOrbit();
 
 	bool applyCommandParameters(const vehicle_command_s &command) override;
-	bool activate(vehicle_local_position_setpoint_s state_prev) override;
+	bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
 	bool update() override;
 
 	/**

src/lib/FlightTasks/tasks/Sport/FlightTaskSport.hpp

@@ -52,9 +52,9 @@ public:
 
 	virtual ~FlightTaskSport() = default;
 
-	bool activate(vehicle_local_position_setpoint_s state_prev) override
+	bool activate(vehicle_local_position_setpoint_s last_setpoint) override
 	{
-		bool ret = FlightTaskManualPosition::activate(state_prev);
+		bool ret = FlightTaskManualPosition::activate(last_setpoint);
 
 		// default constraints already are the maximum allowed limits
 		_setDefaultConstraints();

src/lib/FlightTasks/tasks/Transition/FlightTaskTransition.cpp

@@ -42,14 +42,14 @@ bool FlightTaskTransition::updateInitialize()
 	return FlightTask::updateInitialize();
 }
 
-bool FlightTaskTransition::activate(vehicle_local_position_setpoint_s state_prev)
+bool FlightTaskTransition::activate(vehicle_local_position_setpoint_s last_setpoint)
 {
-	checkSetpoints(state_prev);
-	_transition_altitude = state_prev.z;
-	_transition_yaw = state_prev.yaw;
+	checkSetpoints(last_setpoint);
+	_transition_altitude = last_setpoint.z;
+	_transition_yaw = last_setpoint.yaw;
 	_acceleration_setpoint.setAll(0.f);
 	_velocity_prev = _velocity;
-	return FlightTask::activate(state_prev);
+	return FlightTask::activate(last_setpoint);
 }
 
 void FlightTaskTransition::checkSetpoints(vehicle_local_position_setpoint_s &setpoints)

src/lib/FlightTasks/tasks/Transition/FlightTaskTransition.hpp

@@ -47,7 +47,7 @@ public:
 	FlightTaskTransition() = default;
 
 	virtual ~FlightTaskTransition() = default;
-	bool activate(vehicle_local_position_setpoint_s state_prev) override;
+	bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
 	bool updateInitialize() override;
 	bool update() override;