FlightTaskManualPosition.hpp

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/**
 * @file FlightTaskManualPosition.hpp
 *
 * Flight task for manual position controlled mode.
 *
 */

#pragma once

#include <lib/collision_prevention/CollisionPrevention.hpp>
#include "FlightTaskManualAltitude.hpp"

class FlightTaskManualPosition : public FlightTaskManualAltitude
{
public:
    FlightTaskManualPosition();

    virtual ~FlightTaskManualPosition() = default;
    bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
    bool updateInitialize() override;

    /**
     * Sets an external yaw handler which can be used to implement a different yaw control strategy.
     */
    void setYawHandler(WeatherVane *yaw_handler) override { _weathervane_yaw_handler = yaw_handler; }


protected:
    void _updateXYlock(); /**< applies position lock based on stick and velocity */
    void _updateSetpoints() override;
    void _scaleSticks() override;

    DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAltitude,
                    (ParamFloat<px4::params::MPC_VEL_MANUAL>) _param_mpc_vel_manual,
                    (ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _param_mpc_acc_hor_max,
                    (ParamFloat<px4::params::MPC_HOLD_MAX_XY>) _param_mpc_hold_max_xy,
                    (ParamFloat<px4::params::MPC_ACC_HOR_ESTM>) _param_mpc_acc_hor_estm
                       )
private:
    float _velocity_scale{0.0f}; //scales the stick input to velocity
    uint8_t _reset_counter{0}; /**< counter for estimator resets in xy-direction */

    WeatherVane *_weathervane_yaw_handler =
        nullptr;    /**< external weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind */

    CollisionPrevention _collision_prevention;  /**< collision avoidance setpoint amendment */
};