FlightTaskManualPosition.hpp

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#pragma once

#include <CollisionPrevention/CollisionPrevention.hpp>
#include "FlightTaskManualAltitude.hpp"

class FlightTaskManualPosition : public FlightTaskManualAltitude
{
public:
    FlightTaskManualPosition();

    virtual ~FlightTaskManualPosition() = default;
    bool initializeSubscriptions(SubscriptionArray &subscription_array) override;
    bool activate() override;
    bool updateInitialize() override;

    void setYawHandler(WeatherVane *yaw_handler) override { _weathervane_yaw_handler = yaw_handler; }


protected:
    void _updateXYlock(); 
    void _updateSetpoints() override;
    void _scaleSticks() override;

    DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAltitude,
                    (ParamFloat<px4::params::MPC_VEL_MANUAL>) _param_mpc_vel_manual,
                    (ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _param_mpc_acc_hor_max,
                    (ParamFloat<px4::params::MPC_HOLD_MAX_XY>) _param_mpc_hold_max_xy,
                    (ParamFloat<px4::params::MPC_ACC_HOR_ESTM>) _param_mpc_acc_hor_estm
                       )
private:
    float _velocity_scale{0.0f}; //scales the stick input to velocity
    uint8_t _reset_counter{0}; 
    WeatherVane *_weathervane_yaw_handler =
        nullptr;    
    CollisionPrevention _collision_prevention;  
};