FlightTaskManualAltitude: scale stick z to velocity

src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp

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+/****************************************************************************
+ *
+ *   Copyright (c) 2017 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 FlightTaskOrbit.hpp
+ *
+ * Flight task for manual controlled altitude.
+ *
+ */
+
+#pragma once
+
+#include "FlightTaskManual.hpp"
+
+class FlightTaskManualAltitude : public FlightTaskManual
+{
+public:
+	FlightTaskManualAltitude(control::SuperBlock *parent, const char *name);
+
+	virtual ~FlightTaskManualAltitude() = default;
+
+	bool activate() override;
+
+	bool update() override;
+
+protected:
+	float _pos_sp_z{0.0f};
+	float _yaw_sp{0.0f};
+
+private:
+
+	control::BlockParamFloat _vel_max_down; /**< maximum speed allowed to go up */
+	control::BlockParamFloat _vel_max_up; /**< maximum speed allowed to go down */
+	control::BlockParamFloat _yaw_rate_scaling;
+
+};