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/**
 * @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_LAND_VEL_XY>) _param_mpc_land_vel_xy,
					(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 _computeVelXYGroundDist();
	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 */
};