FlightTaskOffboard.hpp

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#pragma once

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

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

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

protected:
    uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
private:
    matrix::Vector3f _position_lock{};

    DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
                    (ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed,
                    (ParamFloat<px4::params::MPC_TKO_SPEED>) _param_mpc_tko_speed,
                    (ParamFloat<px4::params::MIS_TAKEOFF_ALT>) _param_mis_takeoff_alt
                       )
};