FlightTaskManualAltitudeSmooth.cpp

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/**
 * @file FlightManualAltitude.cpp
 */

#include "FlightTaskManualAltitudeSmooth.hpp"

using namespace matrix;

FlightTaskManualAltitudeSmooth::FlightTaskManualAltitudeSmooth() :
    _smoothing(this, _velocity(2), _sticks(2))
{}

void FlightTaskManualAltitudeSmooth::_updateSetpoints()
{
    /* Get yaw, thrust */
    FlightTaskManualAltitude::_updateSetpoints();

    /* Smooth velocity in z*/
    _smoothing.smoothVelFromSticks(_velocity_setpoint(2), _deltatime);

    /* Check for altitude lock*/
    _updateAltitudeLock();
}