FlightTasks: refactoring for CamelCase naming convention, small comment and declaration order renicements

src/lib/FlightTasks/FlightTasks.hpp

@@ -69,7 +69,7 @@ public:
 	 */
 	bool update()
 	{
-		if (is_any_task_active()) {
+		if (isAnyTaskActive()) {
 			_subscription_array.update();
 			return _current_task->updateInitialize() && _current_task->update();
 		}
@@ -80,9 +80,9 @@ public:
 	/**
 	 * Get the output data from the current task
 	 */
-	const vehicle_local_position_setpoint_s &get_position_setpoint()
+	const vehicle_local_position_setpoint_s &getPositionSetpoint()
 	{
-		return _current_task->get_position_setpoint();
+		return _current_task->getPositionSetpoint();
 	}
 
 	/**
@@ -90,24 +90,24 @@ public:
 	 */
 	inline const vehicle_local_position_setpoint_s &operator()()
 	{
-		return get_position_setpoint();
+		return getPositionSetpoint();
 	}
 
 	/**
 	 * Switch to the next task in the available list (for testing)
 	 * @return true on success, false on error
 	 */
-	int switch_task()
+	int switchTask()
 	{
-		return switch_task(_current_task_index + 1);
+		return switchTask(_current_task_index + 1);
 	}
 
 	/**
 	 * Switch to a specific task (for normal usage)
 	 * @param task number to switch to
-	 * @return true on success, false on error
+	 * @return 0 on success, <0 on error
 	 */
-	int switch_task(int task_number)
+	int switchTask(int task_number)
 	{
 		/* switch to the running task, nothing to do */
 		if (task_number == _current_task_index) {
@@ -161,17 +161,18 @@ public:
 	 * Get the number of the active task
 	 * @return number of active task, -1 if there is none
 	 */
-	int get_active_task() const { return _current_task_index; }
+	int getActiveTask() const { return _current_task_index; }
 
 	/**
 	 * Check if any task is active
 	 * @return true if a task is active, false if not
 	 */
-	bool is_any_task_active() const { return _current_task; }
+	bool isAnyTaskActive() const { return _current_task; }
 
 private:
 
-	/** union with all existing tasks: we use it to make sure that only the memory of the largest existing
+	/**
+	 * Union with all existing tasks: we use it to make sure that only the memory of the largest existing
 	 * task is needed, and to avoid using dynamic memory allocations.
 	 */
 	union TaskUnion {

src/lib/FlightTasks/tasks/FlightTask.cpp

@@ -25,10 +25,10 @@ bool FlightTask::updateInitialize()
 	_time = (_time_stamp_current - _time_stamp_activate) / 1e6f;
 	_deltatime  = math::min((_time_stamp_current - _time_stamp_last), _timeout) / 1e6f;
 	_time_stamp_last = _time_stamp_current;
-	return _evaluate_vehicle_position();
+	return _evaluateVehiclePosition();
 }
 
-bool FlightTask::_evaluate_vehicle_position()
+bool FlightTask::_evaluateVehiclePosition()
 {
 	if ((_time_stamp_current - _sub_vehicle_local_position->get().timestamp) < _timeout) {
 		_position = matrix::Vector3f(&_sub_vehicle_local_position->get().x);

src/lib/FlightTasks/tasks/FlightTask.hpp

@@ -60,7 +60,7 @@ public:
 	virtual ~FlightTask() = default;
 
 	/**
-	 * initialize the uORB subscriptions using an array
+	 * Initialize the uORB subscriptions using an array
 	 * @return true on success, false on error
 	 */
 	virtual bool initializeSubscriptions(SubscriptionArray &subscription_array);
@@ -87,13 +87,13 @@ public:
 	/**
 	 * Get the output data
 	 */
-	const vehicle_local_position_setpoint_s &get_position_setpoint()
+	const vehicle_local_position_setpoint_s &getPositionSetpoint()
 	{
 		return _vehicle_local_position_setpoint;
 	}
 
 protected:
-	/* time abstraction */
+	/* Time abstraction */
 	static constexpr uint64_t _timeout = 500000; /**< maximal time in us before a loop or data times out */
 	float _time = 0; /**< passed time in seconds since the task was activated */
 	float _deltatime = 0; /**< passed time in seconds since the task was last updated */
@@ -101,25 +101,26 @@ protected:
 	hrt_abstime _time_stamp_current = 0; /**< time stamp at the beginning of the current task update */
 	hrt_abstime _time_stamp_last = 0; /**< time stamp when task was last updated */
 
-	/* Current vehicle position for every task */
+	/* Current vehicle position */
 	matrix::Vector3f _position; /**< current vehicle position */
 	matrix::Vector3f _velocity; /**< current vehicle velocity */
 	float _yaw = 0.f;
+	bool _evaluateVehiclePosition();
 
 	/* Put the position vector produced by the task into the setpoint message */
-	void _set_position_setpoint(const matrix::Vector3f &position_setpoint) { position_setpoint.copyToRaw(&_vehicle_local_position_setpoint.x); }
+	void _setPositionSetpoint(const matrix::Vector3f &position_setpoint) { position_setpoint.copyToRaw(&_vehicle_local_position_setpoint.x); }
 
 	/* Put the velocity vector produced by the task into the setpoint message */
-	void _set_velocity_setpoint(const matrix::Vector3f &velocity_setpoint) { velocity_setpoint.copyToRaw(&_vehicle_local_position_setpoint.vx); }
+	void _setVelocitySetpoint(const matrix::Vector3f &velocity_setpoint) { velocity_setpoint.copyToRaw(&_vehicle_local_position_setpoint.vx); }
 
 	/* Put the acceleration vector produced by the task into the setpoint message */
-	void _set_acceleration_setpoint(const matrix::Vector3f &acceleration_setpoint) { acceleration_setpoint.copyToRaw(&_vehicle_local_position_setpoint.acc_x); }
+	void _setAccelerationSetpoint(const matrix::Vector3f &acceleration_setpoint) { acceleration_setpoint.copyToRaw(&_vehicle_local_position_setpoint.acc_x); }
 
 	/* Put the yaw angle produced by the task into the setpoint message */
-	void _set_yaw_setpoint(const float yaw) { _vehicle_local_position_setpoint.yaw = yaw; }
+	void _setYawSetpoint(const float yaw) { _vehicle_local_position_setpoint.yaw = yaw; }
 
 	/* Put the yaw anglular rate produced by the task into the setpoint message */
-	void _set_yawspeed_setpoint(const float &yawspeed) { _vehicle_local_position_setpoint.yawspeed = yawspeed; }
+	void _setYawspeedSetpoint(const float &yawspeed) { _vehicle_local_position_setpoint.yawspeed = yawspeed; }
 
 private:
 	uORB::Subscription<vehicle_local_position_s> *_sub_vehicle_local_position{nullptr};

src/lib/FlightTasks/tasks/FlightTaskManual.cpp

@@ -90,7 +90,7 @@ bool FlightTaskManual::initializeSubscriptions(SubscriptionArray &subscription_a
 
 bool FlightTaskManual::updateInitialize()
 {
-	return FlightTask::updateInitialize() && _evaluate_sticks();
+	return FlightTask::updateInitialize() && _evaluateSticks();
 }
 
 bool FlightTaskManual::update()
@@ -117,7 +117,7 @@ bool FlightTaskManual::update()
 
 	/* smooth out velocity setpoint by slewrate and return it */
 	vel_sp_slewrate(stick_xy, _sticks(3), velocity_setpoint);
-	_set_velocity_setpoint(velocity_setpoint);
+	_setVelocitySetpoint(velocity_setpoint);
 
 	/* handle position and altitude hold */
 	const bool stick_xy_zero = stick_xy_norm <= FLT_EPSILON;
@@ -143,11 +143,11 @@ bool FlightTaskManual::update()
 		_hold_position(2) = NAN;
 	}
 
-	_set_position_setpoint(_hold_position);
+	_setPositionSetpoint(_hold_position);
 	return true;
 }
 
-bool FlightTaskManual::_evaluate_sticks()
+bool FlightTaskManual::_evaluateSticks()
 {
 	if ((_time_stamp_current - _sub_manual_control_setpoint->get().timestamp) < _timeout) {
 		/* get data and scale correctly */

src/lib/FlightTasks/tasks/FlightTaskManual.hpp

@@ -62,6 +62,7 @@ public:
 
 protected:
 	matrix::Vector<float, 4> _sticks;
+	bool _evaluateSticks();
 
 	float get_input_frame_yaw() { return _yaw; }
 

src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp

@@ -80,8 +80,8 @@ bool FlightTaskOrbit::update()
 
 	float yaw = atan2f(center_to_position(1), center_to_position(0)) + M_PI_F;
 
-	_set_position_setpoint(Vector3f(NAN, NAN, _z));
-	_set_velocity_setpoint(Vector3f(velocity_xy(0), velocity_xy(1), 0.f));
-	_set_yaw_setpoint(yaw);
+	_setPositionSetpoint(Vector3f(NAN, NAN, _z));
+	_setVelocitySetpoint(Vector3f(velocity_xy(0), velocity_xy(1), 0.f));
+	_setYawSetpoint(yaw);
 	return true;
 }

src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp

@@ -55,7 +55,6 @@ public:
 	bool update() override;
 
 private:
-
 	float _r = 0.f; /**< radius with which to orbit the target */
 	float _v = 0.f; /**< linear velocity for orbiting in m/s */
 	float _z = 0.f; /**< local z coordinate in meters */