moved ManualVelocitySmoothing to motion_planning lib

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

src/lib/motion_planning/CMakeLists.txt

@@ -34,6 +34,8 @@
 px4_add_library(motion_planning
 	VelocitySmoothing.cpp
 	PositionSmoothing.cpp
+	ManualVelocitySmoothingXY.cpp
+	ManualVelocitySmoothingZ.cpp
 )
 
 target_include_directories(motion_planning PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

src/lib/motion_planning/ManualVelocitySmoothingXYTest.cpp

@@ -39,7 +39,7 @@
 #include <gtest/gtest.h>
 #include <matrix/matrix/math.hpp>
 
-#include "ManualVelocitySmoothingXY.hpp"
+#include <motion_planning/ManualVelocitySmoothingXY.hpp>
 
 using namespace matrix;
 

src/lib/tecs/TECS.hpp

@@ -47,7 +47,7 @@
 #include <uORB/topics/tecs_status.h>
 #include <uORB/uORB.h>
 #include <motion_planning/VelocitySmoothing.hpp>
-#include <flight_mode_manager/tasks/Utility/ManualVelocitySmoothingZ.hpp>
+#include <motion_planning/ManualVelocitySmoothingZ.hpp>
 
 class TECS
 {

src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp

@@ -40,7 +40,7 @@
 #pragma once
 
 #include "FlightTaskManualAltitude.hpp"
-#include "ManualVelocitySmoothingZ.hpp"
+#include <motion_planning/ManualVelocitySmoothingZ.hpp>
 
 class FlightTaskManualAltitudeSmoothVel : public FlightTaskManualAltitude
 {

src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp

@@ -40,8 +40,8 @@
 #pragma once
 
 #include "FlightTaskManualPosition.hpp"
-#include "ManualVelocitySmoothingXY.hpp"
-#include "ManualVelocitySmoothingZ.hpp"
+#include <motion_planning/ManualVelocitySmoothingXY.hpp>
+#include <motion_planning/ManualVelocitySmoothingZ.hpp>
 
 using matrix::Vector2f;
 using matrix::Vector3f;

src/modules/flight_mode_manager/tasks/Utility/CMakeLists.txt

@@ -33,8 +33,6 @@
 
 px4_add_library(FlightTaskUtility
 	StraightLine.cpp
-	ManualVelocitySmoothingXY.cpp
-	ManualVelocitySmoothingZ.cpp
 	Sticks.cpp
 	StickAccelerationXY.cpp
 	StickYaw.cpp
@@ -42,5 +40,3 @@ px4_add_library(FlightTaskUtility
 
 target_link_libraries(FlightTaskUtility PUBLIC FlightTask hysteresis bezier SlewRate motion_planning)
 target_include_directories(FlightTaskUtility PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
-
-px4_add_unit_gtest(SRC ManualVelocitySmoothingXYTest.cpp LINKLIBS FlightTaskUtility)