FlightTaskManualAltitude.hpp

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#pragma once

#include "FlightTaskManual.hpp"
#include <uORB/topics/home_position.h>

class FlightTaskManualAltitude : public FlightTaskManual
{
public:
    FlightTaskManualAltitude() = default;
    virtual ~FlightTaskManualAltitude() = default;
    bool initializeSubscriptions(SubscriptionArray &subscription_array) override;
    bool activate() override;
    bool updateInitialize() override;
    bool update() override;

protected:
    void _updateHeadingSetpoints(); 
    virtual void _updateSetpoints(); 
    virtual void _scaleSticks(); 
    void _rotateIntoHeadingFrame(matrix::Vector2f &vec);

    void _updateAltitudeLock();

    DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManual,
                    (ParamFloat<px4::params::MPC_HOLD_MAX_Z>) _param_mpc_hold_max_z,
                    (ParamInt<px4::params::MPC_ALT_MODE>) _param_mpc_alt_mode,
                    (ParamFloat<px4::params::MPC_HOLD_MAX_XY>) _param_mpc_hold_max_xy,
                    (ParamFloat<px4::params::MPC_Z_P>) _param_mpc_z_p, 
                    (ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max, 
                    (ParamFloat<px4::params::MPC_MAN_TILT_MAX>) _param_mpc_man_tilt_max, 
                    (ParamFloat<px4::params::MPC_LAND_ALT1>) _param_mpc_land_alt1, 
                    (ParamFloat<px4::params::MPC_LAND_ALT2>) _param_mpc_land_alt2, 
                    (ParamFloat<px4::params::MPC_LAND_SPEED>)
                    _param_mpc_land_speed, 
                    (ParamFloat<px4::params::MPC_TKO_SPEED>)
                    _param_mpc_tko_speed 
                       )
private:
    void _terrainFollowing(bool apply_brake, bool stopped);

    void _respectMinAltitude();

    void _respectMaxAltitude();

    void _respectGroundSlowdown();

    uORB::Subscription<home_position_s> *_sub_home_position{nullptr};

    uint8_t _reset_counter = 0; 
    float _max_speed_up = 10.0f;
    float _min_speed_down = 1.0f;
    bool _terrain_follow{false}; 
    bool _terrain_hold{false}; 
    float _dist_to_ground_lock = NAN;
};