FlightTaskDescend.hpp

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/**
 * @file FlightTaskDescend.hpp
 */

#pragma once

#include "FlightTask.hpp"

class FlightTaskDescend : public FlightTask
{
public:
    FlightTaskDescend() = default;
    virtual ~FlightTaskDescend() = default;

    bool update() override;
    bool activate(vehicle_local_position_setpoint_s last_setpoint) override;

private:
    DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
                    (ParamFloat<px4::params::MPC_THR_HOVER>) _param_mpc_thr_hover, ///< thrust at hover equilibrium
                    (ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed ///< velocity for controlled descend
                       )
};