FlightTaskOrbit.hpp

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#pragma once

#include "FlightTaskManualAltitudeSmooth.hpp"
#include <uORB/uORB.h>

class FlightTaskOrbit : public FlightTaskManualAltitudeSmooth
{
public:
    FlightTaskOrbit();
    virtual ~FlightTaskOrbit();

    bool applyCommandParameters(const vehicle_command_s &command) override;
    bool activate() override;
    bool update() override;

    bool checkAcceleration(float r, float v, float a);

protected:
    bool sendTelemetry();

    bool setRadius(const float r);

    bool setVelocity(const float v);

private:
    float _r = 0.f; 
    float _v = 0.f; 
    matrix::Vector2f _center; 
    // TODO: create/use parameters for limits
    const float _radius_min = 1.f;
    const float _radius_max = 100.f;
    const float _velocity_max = 10.f;
    const float _acceleration_max = 2.f;

    orb_advert_t _orbit_status_pub = nullptr;
};