diff --git a/src/lib/FlightTasks/FlightTasks.hpp b/src/lib/FlightTasks/FlightTasks.hpp
index f0ce8974eeb7551b66d97774439e8dc2ac6eb5c8..da29a1be58da3383378431e0ac9893d644962e1d 100644
--- a/src/lib/FlightTasks/FlightTasks.hpp
+++ b/src/lib/FlightTasks/FlightTasks.hpp
@@ -129,7 +129,7 @@ public:
/**
* Sets an external yaw handler. The active flight task can use the yaw handler to implement a different yaw control strategy.
*/
- void set_yaw_handler(WeatherVane *ext_yaw_handler) {_current_task.task->set_yaw_handler(ext_yaw_handler);}
+ void setYawHandler(WeatherVane *ext_yaw_handler) {_current_task.task->setYawHandler(ext_yaw_handler);}
private:
diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
index 127586de0f0302631a22e0e21583381dc3aea87b..40c9b55dc88cdea09539b7485203d21543ba444b 100644
--- a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
+++ b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
@@ -193,7 +193,11 @@ bool FlightTaskAuto::_evaluateTriplets()
}
// set heading
- if (_type == WaypointType::follow_target && _sub_triplet_setpoint->get().current.yawspeed_valid) {
+ if (_ext_yaw_handler != nullptr && _ext_yaw_handler->is_active()) {
+ _yaw_setpoint = _yaw;
+ _yawspeed_setpoint = _ext_yaw_handler->get_weathervane_yawrate();
+
+ } else if (_type == WaypointType::follow_target && _sub_triplet_setpoint->get().current.yawspeed_valid) {
_yawspeed_setpoint = _sub_triplet_setpoint->get().current.yawspeed;
_yaw_setpoint = NAN;
diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
index a7c1158d56437f900a9b790098e999716ad93784..c50e63e044c3d12ecd727adcb628e94fe3b03ac5 100644
--- a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
+++ b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
@@ -78,6 +78,11 @@ public:
bool activate() override;
bool updateInitialize() override;
+ /**
+ * Sets an external yaw handler which can be used to implement a different yaw control strategy.
+ */
+ void setYawHandler(WeatherVane *ext_yaw_handler) override {_ext_yaw_handler = ext_yaw_handler;}
+
protected:
void _setDefaultConstraints() override;
float _getMaxCruiseSpeed() {return MPC_XY_CRUISE.get();} /**< getter for default cruise speed */
@@ -122,6 +127,9 @@ private:
float _reference_altitude = NAN; /**< Altitude relative to ground. */
hrt_abstime _time_stamp_reference = 0; /**< time stamp when last reference update occured. */
+ WeatherVane *_ext_yaw_handler =
+ nullptr; /**< external weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind */
+
bool _evaluateTriplets(); /**< Checks and sets triplets. */
bool _isFinite(const position_setpoint_s &sp); /**< Checks if all waypoint triplets are finite. */
bool _evaluateGlobalReference(); /**< Check is global reference is available. */
diff --git a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp b/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
index 922201fd904089e74bd2967b124a682b39e4c783..630e858ac6d2711f309d4477da1567165c3f20c8 100644
--- a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
+++ b/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
@@ -62,12 +62,6 @@ bool FlightTaskAutoMapper::update()
_reset();
}
- // check if an external yaw handler is active and if yes, let it compute the yaw setpoints
- if (_ext_yaw_handler != nullptr && _ext_yaw_handler->is_active()) {
- _yaw_setpoint = _yaw;
- _yawspeed_setpoint = _ext_yaw_handler->get_weathervane_yawrate();
- }
-
// The only time a thrust set-point is sent out is during
// idle. Hence, reset thrust set-point to NAN in case the
// vehicle exits idle.
diff --git a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.hpp b/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.hpp
index 6413370e52dfea899bca754072301ed2936b1e16..efff0f6db0b650022515cb140dd9f3d624fffeea 100644
--- a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.hpp
+++ b/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.hpp
@@ -50,11 +50,6 @@ public:
bool activate() override;
bool update() override;
- /**
- * Sets an external yaw handler which can be used to implement a different yaw control strategy.
- */
- void set_yaw_handler(WeatherVane *ext_yaw_handler) override {_ext_yaw_handler = ext_yaw_handler;}
-
protected:
float _alt_above_ground{0.0f}; /**< If home provided, then it is altitude above home, otherwise it is altitude above local position reference. */
@@ -78,8 +73,6 @@ protected:
void updateParams() override; /**< See ModuleParam class */
private:
- WeatherVane *_ext_yaw_handler =
- nullptr; /**< external weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind */
void _reset(); /**< Resets member variables to current vehicle state */
WaypointType _type_previous{WaypointType::idle}; /**< Previous type of current target triplet. */
diff --git a/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp b/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp
index c8500602a07056b793cf8a2bdcffdff296f2d769..4cb11b2baa5d4c1b210bd0c4b78d1254729f339d 100644
--- a/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp
@@ -145,7 +145,7 @@ public:
* Sets an external yaw handler which can be used by any flight task to implement a different yaw control strategy.
* This method does nothing, each flighttask which wants to use the yaw handler needs to override this method.
*/
- virtual void set_yaw_handler(WeatherVane *ext_yaw_handler) {};
+ virtual void setYawHandler(WeatherVane *ext_yaw_handler) {};
protected:
diff --git a/src/lib/FlightTasks/tasks/ManualStabilized/FlightTaskManualStabilized.hpp b/src/lib/FlightTasks/tasks/ManualStabilized/FlightTaskManualStabilized.hpp
index 7372f70c6215db7131462ec6a894da85b50843c7..b846a1ba428ce133ffca9b3948d082d4fcea1240 100644
--- a/src/lib/FlightTasks/tasks/ManualStabilized/FlightTaskManualStabilized.hpp
+++ b/src/lib/FlightTasks/tasks/ManualStabilized/FlightTaskManualStabilized.hpp
@@ -55,7 +55,7 @@ public:
/**
* Sets an external yaw handler which can be used to implement a different yaw control strategy.
*/
- void set_yaw_handler(WeatherVane *ext_yaw_handler) override {_ext_yaw_handler = ext_yaw_handler;}
+ void setYawHandler(WeatherVane *ext_yaw_handler) override {_ext_yaw_handler = ext_yaw_handler;}
protected:
virtual void _updateSetpoints(); /**< updates all setpoints*/
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index d6ceb28febd05a1411377161928f7ed6fe0e3bc5..17a33d66ea8b723c23763e9ab969895eff2f6955 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -625,7 +625,7 @@ MulticopterPositionControl::task_main()
// setpoints from flighttask
vehicle_local_position_setpoint_s setpoint;
- _flight_tasks.set_yaw_handler(&_wv_controller);
+ _flight_tasks.setYawHandler(&_wv_controller);
// update task
if (!_flight_tasks.update()) {