FlightTasks: Move stick handling into library, remove FlightTaskManual #15324
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jkflying
approved these changes
Jul 14, 2020
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Failing SITL test is flakiness on a new check I added, I will increase the thresholds. |
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Describe problem solved by this pull request
One of the first steps towards using libraries instead of the inheritance structure. All flight tasks that wanted to use sticks had to inherit from
FlightTaskManualbecause that abstract class handled the sticks.Describe your solution
I move stick handling (as is) into the
Sticksutility class and removeFlightTaskManualand hence one layer of inheritance structure. I know that's just a small step but it shows me what the usual problems are and I'll continue the effort such that we don't end up with a huge unreviewable pr.Test data / coverage
I SITL tested and the sticks work just like before.
Additional context
We realized more than a year ago that with increasing flight task complexity that the inheritance structure is becoming a dead end. So it was mentioned as a todo to move towards libraries for reuse instead in the PX4 dev summit 2019 and was one of the things that isn't tackled yet and I'm looking into starting slowly such that we have the improvement in the future.