FlightTaskAuto/Mapper/Line: move landing gear to mapper; fix comments

src/lib/FlightTasks/tasks/FlightTaskAuto.hpp

@@ -57,7 +57,7 @@ enum class WaypointType : int {
 	takeoff,
 	land,
 	idle,
-	offboard, // only part of this structure due to legacy reason. It is not used
+	offboard, // only part of this structure due to legacy reason. It is not used within the Auto flighttasks
 	follow_target
 };
 
@@ -105,13 +105,16 @@ protected:
 
 
 private:
-	matrix::Vector2f _lock_position_xy{NAN, NAN};
+	matrix::Vector2f _lock_position_xy{NAN, NAN}; /**< if no valid triplet is received, lock positition to current position */
 
 	uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
 
-	matrix::Vector3f _triplet_target; /**< current triplet from navigator which may differ from the intenal one (_target) depending on the vehicle state. */
-	matrix::Vector3f _triplet_prev_wp; /**< previous triplet from navigator which may differ from the intenal one (_prev_wp) depending on the vehicle state.*/
-	matrix::Vector3f _triplet_next_wp; /**< next triplet from navigator which may differ from the intenal one (_next_wp) depending on the vehicle state.*/
+	matrix::Vector3f
+	_triplet_target; /**< current triplet from navigator which may differ from the intenal one (_target) depending on the vehicle state. */
+	matrix::Vector3f
+	_triplet_prev_wp; /**< previous triplet from navigator which may differ from the intenal one (_prev_wp) depending on the vehicle state.*/
+	matrix::Vector3f
+	_triplet_next_wp; /**< next triplet from navigator which may differ from the intenal one (_next_wp) depending on the vehicle state.*/
 	matrix::Vector2f _closest_pt; /**< closest point to the vehicle position on the line previous - target */
 
 	map_projection_reference_s _reference_position{}; /**< Structure used to project lat/lon setpoint into local frame. */

src/lib/FlightTasks/tasks/FlightTaskAutoLine.cpp

@@ -40,19 +40,13 @@
 
 using namespace matrix;
 
-#define SIGMA_SINGLE_OP			0.000001f
-#define SIGMA_NORM			0.001f
+static constexpr float SIGMA_SINGLE_OP	= 0.000001f;
+static constexpr float SIGMA_NORM		=	0.001f;
 
 void FlightTaskAutoLine::_generateSetpoints()
 {
 	_generateAltitudeSetpoints();
 	_generateXYsetpoints();
-
-	// during mission and reposition, raise the landing gears but only
-	// if altitude is high enough
-	if (_highEnoughForLandingGear()) {
-		_constraints.landing_gear = vehicle_constraints_s::GEAR_UP;
-	}
 }
 
 void FlightTaskAutoLine::_generateXYsetpoints()
@@ -238,10 +232,3 @@ void FlightTaskAutoLine::_generateAltitudeSetpoints()
 		_position_setpoint(2) = _target(2);
 	}
 }
-
-
-bool FlightTaskAutoLine::_highEnoughForLandingGear()
-{
-	// return true if altitude is above two meters
-	return _alt_above_ground > 2.0f;
-}

src/lib/FlightTasks/tasks/FlightTaskAutoLine.hpp

@@ -57,13 +57,8 @@ protected:
 					(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) MPC_ACC_DOWN_MAX
 				       );
 
-	void _generateSetpoints() override;
+	void _generateSetpoints() override; /**< Generate setpoints along line. */
 
 	void _generateAltitudeSetpoints(); /**< Generate velocity and position setpoints for following line along z. */
 	void _generateXYsetpoints(); /**< Generate velocity and position setpoints for following line along xy. */
-
-private:
-
-	bool _highEnoughForLandingGear(); /**< Checks if gears can be lowered. */
-
 };

src/lib/FlightTasks/tasks/FlightTaskAutoMapper.cpp

@@ -40,8 +40,6 @@
 
 using namespace matrix;
 
-
-
 bool FlightTaskAutoMapper::activate()
 {
 	bool ret = FlightTaskAuto::activate();
@@ -88,6 +86,12 @@ bool FlightTaskAutoMapper::update()
 		_generateVelocitySetpoints();
 	}
 
+	// during mission and reposition, raise the landing gears but only
+	// if altitude is high enough
+	if (_highEnoughForLandingGear()) {
+		_constraints.landing_gear = vehicle_constraints_s::GEAR_UP;
+	}
+
 	// update previous type
 	_type_previous = _type;
 
@@ -165,3 +169,9 @@ void FlightTaskAutoMapper::updateParams()
 	// make sure that alt1 is above alt2
 	MPC_LAND_ALT1.set(math::max(MPC_LAND_ALT1.get(), MPC_LAND_ALT2.get()));
 }
+
+bool FlightTaskAutoMapper::_highEnoughForLandingGear()
+{
+	// return true if altitude is above two meters
+	return _alt_above_ground > 2.0f;
+}

src/lib/FlightTasks/tasks/FlightTaskAutoMapper.hpp

@@ -42,7 +42,6 @@
 
 #include "FlightTaskAuto.hpp"
 
-
 class FlightTaskAutoMapper : public FlightTaskAuto
 {
 public:
@@ -76,5 +75,5 @@ protected:
 private:
 	void _reset(); /**< Resets member variables to current vehicle state */
 	WaypointType _type_previous{WaypointType::idle}; /**< Previous type of current target triplet. */
-
+	bool _highEnoughForLandingGear(); /**< Checks if gears can be lowered. */
 };