FlightTaskAutoLine.hpp

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#pragma once

#include "FlightTaskAutoMapper.hpp"

class FlightTaskAutoLine : public FlightTaskAutoMapper
{
public:
    FlightTaskAutoLine() = default;
    virtual ~FlightTaskAutoLine() = default;

protected:

    DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAutoMapper,
                    (ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err, // yaw-error threshold
                    (ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, // acceleration in flight
                    (ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
                    (ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max
                       );

    void _generateSetpoints() override; 
    void _generateHeadingAlongTrack(); 
    void _generateAltitudeSetpoints(); 
    void _generateXYsetpoints(); 
private:
    void _setSpeedAtTarget(); 
    float _speed_at_target = 0.0f;
};