FlightTaskManual.hpp

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#pragma once

#include "FlightTask.hpp"
#include <uORB/topics/manual_control_setpoint.h>

class FlightTaskManual : public FlightTask
{
public:
    FlightTaskManual() = default;

    virtual ~FlightTaskManual() = default;

    bool initializeSubscriptions(SubscriptionArray &subscription_array) override;
    bool applyCommandParameters(const vehicle_command_s &command) override { return FlightTask::applyCommandParameters(command); };
    bool updateInitialize() override;

protected:

    bool _sticks_data_required = true; 
    matrix::Vector<float, 4> _sticks; 
    matrix::Vector<float, 4> _sticks_expo; 
    int _gear_switch_old = manual_control_setpoint_s::SWITCH_POS_NONE; 
    float stickDeadzone() const { return _param_mpc_hold_dz.get(); }

private:

    bool _evaluateSticks(); 
    void _applyGearSwitch(uint8_t gswitch); 
    uORB::Subscription<manual_control_setpoint_s> *_sub_manual_control_setpoint{nullptr};

    DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
                    (ParamFloat<px4::params::MPC_HOLD_DZ>) _param_mpc_hold_dz, 
                    (ParamFloat<px4::params::MPC_XY_MAN_EXPO>)
                    _param_mpc_xy_man_expo, 
                    (ParamFloat<px4::params::MPC_Z_MAN_EXPO>)
                    _param_mpc_z_man_expo, 
                    (ParamFloat<px4::params::MPC_YAW_EXPO>)
                    _param_mpc_yaw_expo, 
                    (ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t 
                       )
};