FlightTaskAuto: move in parameters from FlightTaskAutoLineSmoothVel

src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp

@@ -142,7 +142,23 @@ protected:
 					(ParamInt<px4::params::COM_OBS_AVOID>) _param_com_obs_avoid, // obstacle avoidance active
 					(ParamFloat<px4::params::MPC_YAWRAUTO_MAX>) _param_mpc_yawrauto_max,
 					(ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err, // yaw-error threshold
-					(ParamBool<px4::params::WV_EN>) _param_wv_en // enable/disable weather vane (VTOL)
+					(ParamBool<px4::params::WV_EN>) _param_wv_en, // enable/disable weather vane (VTOL)
+					(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, // acceleration in flight
+					(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
+					(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max,
+					(ParamFloat<px4::params::MPC_JERK_AUTO>) _param_mpc_jerk_auto,
+					(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,
+					(ParamFloat<px4::params::MPC_XY_ERR_MAX>) _param_mpc_xy_err_max,
+					(ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed,
+					(ParamInt<px4::params::MPC_LAND_RC_HELP>) _param_mpc_land_rc_help,
+					(ParamFloat<px4::params::MPC_LAND_ALT1>)
+					_param_mpc_land_alt1, // altitude at which speed limit downwards reaches maximum speed
+					(ParamFloat<px4::params::MPC_LAND_ALT2>)
+					_param_mpc_land_alt2, // altitude at which speed limit downwards reached minimum speed
+					(ParamFloat<px4::params::MPC_TKO_SPEED>) _param_mpc_tko_speed,
+					(ParamFloat<px4::params::MPC_TKO_RAMP_T>)
+					_param_mpc_tko_ramp_t, // time constant for smooth takeoff ramp
+					(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max
 				       );
 
 private:

src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp

@@ -83,24 +83,4 @@ protected:
 	bool _highEnoughForLandingGear(); /**< Checks if gears can be lowered. */
 
 	void updateParams() override; /**< See ModuleParam class */
-
-	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAuto,
-					(ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err, // yaw-error threshold
-					(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, // acceleration in flight
-					(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
-					(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max,
-					(ParamFloat<px4::params::MPC_JERK_AUTO>) _param_mpc_jerk_auto,
-					(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,
-					(ParamFloat<px4::params::MPC_XY_ERR_MAX>) _param_mpc_xy_err_max,
-					(ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed,
-					(ParamInt<px4::params::MPC_LAND_RC_HELP>) _param_mpc_land_rc_help,
-					(ParamFloat<px4::params::MPC_LAND_ALT1>)
-					_param_mpc_land_alt1, // altitude at which speed limit downwards reaches maximum speed
-					(ParamFloat<px4::params::MPC_LAND_ALT2>)
-					_param_mpc_land_alt2, // altitude at which speed limit downwards reached minimum speed
-					(ParamFloat<px4::params::MPC_TKO_SPEED>) _param_mpc_tko_speed,
-					(ParamFloat<px4::params::MPC_TKO_RAMP_T>)
-					_param_mpc_tko_ramp_t, // time constant for smooth takeoff ramp
-					(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max
-				       );
 };