ManualSmoothingZ.hpp

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#pragma once

#include <px4_module_params.h>

enum class ManualIntentionZ {
    brake,
    acceleration,
};

class ManualSmoothingZ : public ModuleParams
{
public:
    ManualSmoothingZ(ModuleParams *parent, const float &vel, const float &stick);
    ~ManualSmoothingZ() = default;

    void smoothVelFromSticks(float &vel_sp, const float dt);

    float getMaxAcceleration() { return _max_acceleration; }

    ManualIntentionZ getIntention() { return _intention; }

    /*
     * Overwrite methods:
     * Needed if different parameter values than default required.
     */
    void overwriteAccelerationUp(float acc_max_up) { _param_mpc_acc_up_max.set(acc_max_up); }
    void overwriteAccelerationDown(float acc_max_down)  {_param_mpc_acc_down_max.set(acc_max_down); }
    void overwriteJerkMax(float jerk_max)  {_param_mpc_jerk_max.set(jerk_max); }

private:
    void velocitySlewRate(float &vel_sp, const float dt);

    void updateAcceleration(float &vel_sp, const float dt);

    void setMaxAcceleration();

    ManualIntentionZ _intention{ManualIntentionZ::acceleration};

    const float &_vel; 
    const float &_stick; 
    float _acc_state_dependent; 
    float _max_acceleration; 
    float _vel_sp_prev; 
    DEFINE_PARAMETERS(
        (ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
        (ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max,
        (ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max
    )
};