FlightTaskManualAltitudeSmoothVel.hpp

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#pragma once

#include "FlightTaskManualAltitude.hpp"
#include "VelocitySmoothing.hpp"

class FlightTaskManualAltitudeSmoothVel : public FlightTaskManualAltitude
{
public:
    FlightTaskManualAltitudeSmoothVel() = default;
    virtual ~FlightTaskManualAltitudeSmoothVel() = default;

    bool activate() override;
    void reActivate() override;

protected:

    virtual void _updateSetpoints() override;

    DEFINE_PARAMETERS(
        (ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max,
        (ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
        (ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max
    )

private:

    void _reset(bool force_vz_zero = false);
    void _checkEkfResetCounters(); 
    VelocitySmoothing _smoothing; 
    float _vel_sp_smooth;
    bool _position_lock_z_active{false};
    float _position_setpoint_z_locked{NAN};

    /* counters for estimator local position resets */
    struct {
        uint8_t z;
        uint8_t vz;
    } _reset_counters{0, 0};
};