FlightTaskManualAltitudeSmoothVel.hpp

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/**
 * @file FlightManualAltitudeSmoothVel.hpp
 *
 * Flight task for manual controlled altitude using the velocity smoothing library
 */

#pragma once

#include "FlightTaskManualAltitude.hpp"
#include "ManualVelocitySmoothingZ.hpp"

class FlightTaskManualAltitudeSmoothVel : public FlightTaskManualAltitude
{
public:
    FlightTaskManualAltitudeSmoothVel() = default;
    virtual ~FlightTaskManualAltitudeSmoothVel() = default;

    bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
    void reActivate() override;

protected:

    virtual void _updateSetpoints() override;

    /** Reset position or velocity setpoints in case of EKF reset event */
    void _ekfResetHandlerPositionZ() override;
    void _ekfResetHandlerVelocityZ() override;

    DEFINE_PARAMETERS(
        (ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max,
        (ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
        (ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max
    )

private:

    void checkSetpoints(vehicle_local_position_setpoint_s &setpoints);

    void _updateTrajConstraints();
    void _setOutputState();

    ManualVelocitySmoothingZ _smoothing; ///< Smoothing in z direction
};