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/**
 * @file FlightTaskManualPosition.hpp
 *
 * Flight task for manual position controlled mode.
 *
 */

#pragma once

#include "FlightTaskManualAltitude.hpp"

class FlightTaskManualPosition : public FlightTaskManualAltitude
{
public:
	FlightTaskManualPosition(control::SuperBlock *parent, const char *name);

	virtual ~FlightTaskManualPosition() = default;

protected:
	control::BlockParamFloat _vel_xy_manual_max; /**< maximum speed allowed horizontally */
	control::BlockParamFloat _acc_xy_max;/**< maximum acceleration horizontally. Only used to compute lock time */
	control::BlockParamFloat _vel_hold_thr_xy; /**< velocity threshold to switch back into horizontal position hold */

	void _updateXYlock(); /**< applies positon lock based on stick and velocity */
	void _updateSetpoints() override;
	void _scaleSticks() override;
};