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/**
 * @file FlightTaskManualPositionSmoothVel.hpp
 *
 * Flight task for smooth manual controlled position.
 */

#pragma once

#include "FlightTaskManualPosition.hpp"
#include "VelocitySmoothing.hpp"

class FlightTaskManualPositionSmoothVel : public FlightTaskManualPosition
{
public:
	FlightTaskManualPositionSmoothVel() = default;

	virtual ~FlightTaskManualPositionSmoothVel() = default;

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

protected:

	virtual void _updateSetpoints() override;

	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualPosition,
					(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:

	enum class Axes {XY, XYZ};

	/**
	 * Reset the required axes. when force_z_zero is set to true, the z derivatives are set to sero and not to the estimated states
	 */
	void reset(Axes axes, bool force_z_zero = false);
	void _checkEkfResetCounters(); /**< Reset the trajectories when the ekf resets velocity or position */

	VelocitySmoothing _smoothing[3]; ///< Smoothing in x, y and z directions
	matrix::Vector3f _vel_sp_smooth;
	bool _position_lock_xy_active{false};
	bool _position_lock_z_active{false};
	matrix::Vector2f _position_setpoint_xy_locked;
	float _position_setpoint_z_locked{NAN};

	/* 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};
};