flight_mode_manager: merge with flight_tasks

src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp

@@ -0,0 +1,72 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file FlightManualAltitudeSmoothVel.hpp
+ *
+ * Flight task for manual controlled altitude using the velocity smoothing library
+ */
+
+#pragma once
+
+#include "FlightTaskManualAltitude.hpp"
+#include "ManualVelocitySmoothingZ.hpp"
+
+class FlightTaskManualAltitudeSmoothVel : public FlightTaskManualAltitude
+{
+public:
+	FlightTaskManualAltitudeSmoothVel() = default;
+	virtual ~FlightTaskManualAltitudeSmoothVel() = default;
+
+	bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
+	void reActivate() override;
+
+protected:
+	virtual void _updateSetpoints() override;
+
+	/** Reset position or velocity setpoints in case of EKF reset event */
+	void _ekfResetHandlerPositionZ() override;
+	void _ekfResetHandlerVelocityZ() override;
+
+	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAltitude,
+					(ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max,
+					(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
+					(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max
+				       )
+
+private:
+	void _updateTrajConstraints();
+	void _setOutputState();
+
+	ManualVelocitySmoothingZ _smoothing; ///< Smoothing in z direction
+};