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/**
 * @file FlightTaskManualAltitudeSmoothVel.hpp
 *
 * Flight task for manual controlled altitude using the velocity smoothing library
 */

#pragma once

#include "FlightTaskManualAltitude.hpp"
#include <motion_planning/ManualVelocitySmoothingZ.hpp>

class FlightTaskManualAltitudeSmoothVel : public FlightTaskManualAltitude
{
public:
	FlightTaskManualAltitudeSmoothVel() = default;
	virtual ~FlightTaskManualAltitudeSmoothVel() = default;

	bool activate(const trajectory_setpoint_s &last_setpoint) override;

protected:
	virtual void _updateSetpoints() override;

	/** Reset position or velocity setpoints in case of EKF reset event */
	void _ekfResetHandlerPositionZ(float delta_z) override;
	void _ekfResetHandlerVelocityZ(float delta_vz) override;

	void _updateTrajConstraints();
	void _setOutputState();

	ManualVelocitySmoothingZ _smoothing; ///< Smoothing in z direction

	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:
	bool _terrain_hold_previous{false}; /**< true when vehicle was controlling height above a static ground position in the previous iteration */
};