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 *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
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 * modification, are permitted provided that the following conditions
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 * 1. Redistributions of source code must retain the above copyright
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 *    notice, this list of conditions and the following disclaimer in
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/**
 * @file FlightManualAltitude.hpp
 *
 * Flight task for manual controlled altitude.
 */

#pragma once

#include "FlightTaskManualStabilized.hpp"

class FlightTaskManualAltitude : public FlightTaskManualStabilized
{
public:
	FlightTaskManualAltitude() = default;
	virtual ~FlightTaskManualAltitude() = default;
	bool activate() override;
	bool updateInitialize() override;

protected:
	void _updateSetpoints() override; /**< updates all setpoints */
	void _scaleSticks() override; /**< scales sticks to velocity in z */

	/**
	 *  Check and sets for position lock.
	 *  If sticks are at center position, the vehicle
	 *  will exit velocity control and enter position control.
	 */
	void _updateAltitudeLock();

	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualStabilized,
					(ParamFloat<px4::params::MPC_HOLD_MAX_Z>) MPC_HOLD_MAX_Z,
					(ParamFloat<px4::params::SENS_FLOW_MINRNG>) SENS_FLOW_MINRNG,
					(ParamInt<px4::params::MPC_ALT_MODE>) MPC_ALT_MODE
				       )
private:
	uint8_t _reset_counter = 0; /**< counter for estimator resets in z-direction */

	/**
	 * Distance to ground during terrain following.
	 * If user does not demand velocity change in D-direction and the vehcile
	 * is in terrain-following mode, then height to ground will be locked to
	 * _dist_to_ground_lock.
	 */
	float _dist_to_ground_lock = NAN;

	/**
	 * Terrain following.
	 * During terrain following, the position setpoint is adjusted
	 * such that the distance to ground is kept constant.
	 * @param apply_brake is true if user wants to break
	 * @param stopped is true if vehicle has stopped moving in D-direction
	 */
	void _terrain_following(bool apply_brake, bool stopped);

	/**
	 * Minimum Altitude during range sensor operation.
	 * If a range sensor is used for altitude estimates, for
	 * best operation a minimum altitude is required. The minimum
	 * altitude is only enforced during altitude lock.
	 */
	void _respectMinAltitude();
};