FlightTasksAuto/Line: replace BlockParams with module params

src/lib/FlightTasks/FlightTasks.cpp

@@ -73,7 +73,7 @@ int FlightTasks::switchTask(FlightTaskIndex new_task_index)
 		break;
 
 	case FlightTaskIndex::AutoLine:
-		_current_task = new (&_task_union.autoLine) FlightTaskAutoLine(this, "ALN");
+		_current_task = new (&_task_union.autoLine) FlightTaskAutoLine();
 		break;
 
 	default:

src/lib/FlightTasks/tasks/FlightTaskAuto.cpp

@@ -40,11 +40,6 @@
 
 using namespace matrix;
 
-FlightTaskAuto::FlightTaskAuto(control::SuperBlock *parent, const char *name) :
-	FlightTask(parent, name),
-	_mc_cruise_default(this, "MPC_XY_CRUISE", false)
-{}
-
 bool FlightTaskAuto::initializeSubscriptions(SubscriptionArray &subscription_array)
 {
 	if (!FlightTask::initializeSubscriptions(subscription_array)) {

src/lib/FlightTasks/tasks/FlightTaskAuto.hpp

@@ -61,7 +61,7 @@ enum class WaypointType : int {
 class FlightTaskAuto : public FlightTask
 {
 public:
-	FlightTaskAuto(control::SuperBlock *parent, const char *name);
+	FlightTaskAuto() = default;
 
 	virtual ~FlightTaskAuto() = default;
 	bool initializeSubscriptions(SubscriptionArray &subscription_array) override;
@@ -78,9 +78,12 @@ class FlightTaskAuto : public FlightTask
 	WaypointType _type{WaypointType::idle}; /**< Type of current target triplet. */
 
 private:
-	control::BlockParamFloat _mc_cruise_default; /**< Default mc cruise speed.*/
-	map_projection_reference_s _reference; /**< Reference frame from global to local. */
 	uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
+
+	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask, (ParamFloat<px4::params::MPC_XY_CRUISE>) _mc_cruise_default); /**< Default mc cruise speed.*/
+
+	map_projection_reference_s _reference; /**< Reference frame from global to local. */
+
 	map_projection_reference_s _reference_position{}; /**< Structure used to project lat/lon setpoint into local frame. */
 	float _reference_altitude = 0.0f;  /**< Altitude relative to ground. */
 	hrt_abstime _time_stamp_reference = 0; /**< time stamp when last reference update occured. */

src/lib/FlightTasks/tasks/FlightTaskAutoLine.cpp

@@ -43,20 +43,6 @@ using namespace matrix;
 #define SIGMA_SINGLE_OP			0.000001f
 #define SIGMA_NORM			0.001f
 
-FlightTaskAutoLine::FlightTaskAutoLine(control::SuperBlock *parent, const char *name) :
-	FlightTaskAuto(parent, name),
-	_land_speed(parent, "MPC_LAND_SPEED", false),
-	_vel_max_up(parent, "MPC_Z_VEL_MAX_UP", false),
-	_vel_max_down(parent, "MPC_Z_VEL_MAX_DN", false),
-	_acc_max_xy(parent, "MPC_ACC_HOR_MAX", false),
-	_acc_xy(parent, "MPC_ACC_HOR", false),
-	_acc_max_up(parent, "MPC_ACC_UP_MAX", false),
-	_acc_max_down(parent, "MPC_ACC_DOWN_MAX", false),
-	_cruise_speed_90(parent, "MPC_CRUISE_90", false),
-	_nav_rad(parent, "NAV_ACC_RAD", false),
-	_mis_yaw_error(parent, "MIS_YAW_ERR", false)
-{}
-
 bool FlightTaskAutoLine::activate()
 {
 	bool ret = FlightTaskAuto::activate();

src/lib/FlightTasks/tasks/FlightTaskAutoLine.hpp

@@ -45,7 +45,7 @@
 class FlightTaskAutoLine : public FlightTaskAuto
 {
 public:
-	FlightTaskAutoLine(control::SuperBlock *parent, const char *name);
+	FlightTaskAutoLine() = default;
 	virtual ~FlightTaskAutoLine() = default;
 	bool activate() override;
 	bool update() override;
@@ -64,18 +64,18 @@ class FlightTaskAutoLine : public FlightTaskAuto
 	};
 	State _current_state{State::none};
 
-	control::BlockParamFloat _land_speed; /**< Downward speed during landing. */
-	control::BlockParamFloat _vel_max_up; /**< Maximum upward velocity. */
-	control::BlockParamFloat _vel_max_down; /**< Maximum downward velocity. */
-	control::BlockParamFloat _acc_max_xy; /**< Maximum acceleration in hover. */
-	control::BlockParamFloat _acc_xy; /**< Maximum acceleration from hover to fast forward flight. */
-	control::BlockParamFloat _acc_max_up; /**< Max acceleration up. */
-	control::BlockParamFloat _acc_max_down; /**< Max acceleration down. */
-	control::BlockParamFloat _cruise_speed_90; /**< Speed when angle is 90 degrees between prev-current/current-next. */
-
-	/* None-position control params */
-	control::BlockParamFloat _nav_rad; /**< Radius that is used by navigator that defines when to update triplets */
-	control::BlockParamFloat _mis_yaw_error; /**< Yaw threshold during mission to consider yaw as accepted */
+	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAuto,
+			(ParamFloat<px4::params::MPC_LAND_SPEED>) _land_speed,
+			(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) _vel_max_up,
+			(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) _vel_max_down,
+			(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _acc_max_xy,
+			(ParamFloat<px4::params::MPC_ACC_HOR>) _acc_xy,
+			(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _acc_max_up,
+			(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _acc_max_down,
+			(ParamFloat<px4::params::MPC_CRUISE_90>) _cruise_speed_90,
+			(ParamFloat<px4::params::NAV_ACC_RAD>) _nav_rad,
+			(ParamFloat<px4::params::MIS_YAW_ERR>) _mis_yaw_error
+			)
 
 	void _generateIdleSetpoints();
 	void _generateLandSetpoints();