FlightTaskAutoMapper2.hpp

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#pragma once

#include "FlightTaskAuto.hpp"

class FlightTaskAutoMapper2 : public FlightTaskAuto
{
public:
    FlightTaskAutoMapper2() = default;
    virtual ~FlightTaskAutoMapper2() = default;
    bool activate() override;
    bool update() override;

protected:

    float _alt_above_ground{0.0f}; 
    DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAuto,
                    (ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed,
                    (ParamFloat<px4::params::MPC_TILTMAX_LND>) _param_mpc_tiltmax_lnd,
                    (ParamFloat<px4::params::MPC_LAND_ALT1>)
                    _param_mpc_land_alt1, // altitude at which speed limit downwards reaches maximum speed
                    (ParamFloat<px4::params::MPC_LAND_ALT2>)
                    _param_mpc_land_alt2, // altitude at which speed limit downwards reached minimum speed
                    (ParamFloat<px4::params::MPC_TKO_SPEED>) _param_mpc_tko_speed
                       );

    virtual void _generateSetpoints() = 0; 
    void _prepareIdleSetpoints();
    void _prepareLandSetpoints();
    void _prepareVelocitySetpoints();
    void _prepareTakeoffSetpoints();
    void _preparePositionSetpoints();

    void _updateAltitudeAboveGround(); 
    void updateParams() override; 
private:

    void _reset(); 
    WaypointType _type_previous{WaypointType::idle}; 
    bool _highEnoughForLandingGear(); 
};