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/**
 * @file FlightTaskAutoLineSmoothVel.hpp
 *
 * Flight task for autonomous, gps driven mode. The vehicle flies
 * along a straight line in between waypoints.
 */

#pragma once

#include "FlightTaskAutoMapper2.hpp"
#include "VelocitySmoothing.hpp"

class FlightTaskAutoLineSmoothVel : public FlightTaskAutoMapper2
{
public:
	FlightTaskAutoLineSmoothVel() = default;
	virtual ~FlightTaskAutoLineSmoothVel() = default;

	bool activate() override;
	void reActivate() override;

protected:

	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAutoMapper2,
					(ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err, // yaw-error threshold
					(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, // acceleration in flight
					(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_AUTO>) _param_mpc_jerk_auto,
					(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,
					(ParamFloat<px4::params::MPC_Z_TRAJ_P>) _param_mpc_z_traj_p
				       );

	void _generateSetpoints() override; /**< Generate setpoints along line. */

	/** determines when to trigger a takeoff (ignored in flight) */
	bool _checkTakeoff() override { return _want_takeoff; };

	inline float _constrainOneSide(float val, float constrain);
	void _checkEkfResetCounters(); /**< Reset the trajectories when the ekf resets velocity or position */
	void _generateHeading();
	bool _generateHeadingAlongTraj(); /**< Generates heading along trajectory. */
	void _updateTrajConstraints();
	void _prepareSetpoints(); /**< Generate velocity target points for the trajectory generator. */
	void _generateTrajectory();
	VelocitySmoothing _trajectory[3]; ///< Trajectories in x, y and z directions

	bool _want_takeoff{false};

	/* counters for estimator local position resets */
	struct {
		uint8_t xy;
		uint8_t vxy;
		uint8_t z;
		uint8_t vz;
	} _reset_counters{0, 0, 0, 0};
};