FlightTaskTransition.hpp

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/**
 * @file FlightTaskTransition.hpp
 *
 * Flight task for automatic VTOL transitions between hover and forward flight and vice versa.
 */

#pragma once

#include "FlightTask.hpp"

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

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

private:
    void checkSetpoints(vehicle_local_position_setpoint_s &setpoints);
    void updateAccelerationEstimate();

    float _transition_altitude = 0.0f;
    float _transition_yaw = 0.0f;
    matrix::Vector3f _velocity_prev{};
};