lib: name folders consistently

src/lib/flight_tasks/tasks/ManualPosition/FlightTaskManualPosition.hpp

@@ -0,0 +1,80 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file FlightTaskManualPosition.hpp
+ *
+ * Flight task for manual position controlled mode.
+ *
+ */
+
+#pragma once
+
+#include <lib/collision_prevention/CollisionPrevention.hpp>
+#include "FlightTaskManualAltitude.hpp"
+
+class FlightTaskManualPosition : public FlightTaskManualAltitude
+{
+public:
+	FlightTaskManualPosition();
+
+	virtual ~FlightTaskManualPosition() = default;
+	bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
+	bool updateInitialize() override;
+
+	/**
+	 * Sets an external yaw handler which can be used to implement a different yaw control strategy.
+	 */
+	void setYawHandler(WeatherVane *yaw_handler) override { _weathervane_yaw_handler = yaw_handler; }
+
+
+protected:
+	void _updateXYlock(); /**< applies position lock based on stick and velocity */
+	void _updateSetpoints() override;
+	void _scaleSticks() override;
+
+	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAltitude,
+					(ParamFloat<px4::params::MPC_VEL_MANUAL>) _param_mpc_vel_manual,
+					(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _param_mpc_acc_hor_max,
+					(ParamFloat<px4::params::MPC_HOLD_MAX_XY>) _param_mpc_hold_max_xy,
+					(ParamFloat<px4::params::MPC_ACC_HOR_ESTM>) _param_mpc_acc_hor_estm
+				       )
+private:
+	float _velocity_scale{0.0f}; //scales the stick input to velocity
+	uint8_t _reset_counter{0}; /**< counter for estimator resets in xy-direction */
+
+	WeatherVane *_weathervane_yaw_handler =
+		nullptr;	/**< external weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind */
+
+	CollisionPrevention _collision_prevention;	/**< collision avoidance setpoint amendment */
+};