FlightTaskManual.hpp

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/**
 * @file FlightTaskManual.hpp
 *
 * Linear and exponential map from stick inputs to range -1 and 1.
 *
 */

#pragma once

#include "FlightTask.hpp"
#include <uORB/topics/manual_control_setpoint.h>

class FlightTaskManual : public FlightTask
{
public:
    FlightTaskManual() = default;

    virtual ~FlightTaskManual() = default;

    bool applyCommandParameters(const vehicle_command_s &command) override { return FlightTask::applyCommandParameters(command); };
    bool updateInitialize() override;

protected:

    bool _sticks_data_required = true; /**< let inherited task-class define if it depends on stick data */
    matrix::Vector<float, 4> _sticks; /**< unmodified manual stick inputs */
    matrix::Vector<float, 4> _sticks_expo; /**< modified manual sticks using expo function*/
    int _gear_switch_old = manual_control_setpoint_s::SWITCH_POS_NONE; /**< old switch state*/

    float stickDeadzone() const { return _param_mpc_hold_dz.get(); }

private:

    bool _evaluateSticks(); /**< checks and sets stick inputs */
    void _applyGearSwitch(uint8_t gswitch); /**< Sets gears according to switch */

    uORB::SubscriptionData<manual_control_setpoint_s> _sub_manual_control_setpoint{ORB_ID(manual_control_setpoint)};

    DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
                    (ParamFloat<px4::params::MPC_HOLD_DZ>) _param_mpc_hold_dz, /**< 0-deadzone around the center for the sticks */
                    (ParamFloat<px4::params::MPC_XY_MAN_EXPO>)
                    _param_mpc_xy_man_expo, /**< ratio of exponential curve for stick input in xy direction */
                    (ParamFloat<px4::params::MPC_Z_MAN_EXPO>)
                    _param_mpc_z_man_expo, /**< ratio of exponential curve for stick input in z direction */
                    (ParamFloat<px4::params::MPC_YAW_EXPO>)
                    _param_mpc_yaw_expo, /**< ratio of exponential curve for stick input in yaw for modes except acro */
                    (ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t /**< time at which commander considers RC lost */
                       )
};