addressed comments from review

Signed-off-by: Roman <bapstroman@gmail.com>

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:
 

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;
 

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. */

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.

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. */

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:
 

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*/

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()) {