FlightTaskFailsafe.hpp

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/**
 * @file FlightTaskFailsafe.hpp
 *
 */

#pragma once

#include "FlightTask.hpp"

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

    virtual ~FlightTaskFailsafe() = default;
    bool update() override;
    bool activate(vehicle_local_position_setpoint_s last_setpoint) override;

private:
    DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
                    (ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed,
                    (ParamFloat<px4::params::MPC_THR_HOVER>)
                    _param_mpc_thr_hover /**< throttle value at which vehicle is at hover equilibrium */
                       )
};