text: /****************************************************************************
   *
   *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
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   *    notice, this list of conditions and the following disclaimer.
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   *    notice, this list of conditions and the following disclaimer in
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  /**
   * @file FlightTaskManual.hpp
   *
   * Linear and exponential map from stick inputs to range -1 and 1.
   *
   */
  
  #pragma once
  
  #include "FlightTask.hpp"
  #include <uORB/topics/manual_control_setpoint.h>
  
  class FlightTaskManual : public FlightTask
  {
  public:
  	FlightTaskManual() = default;
  
  	virtual ~FlightTaskManual() = default;
  
  	bool initializeSubscriptions(SubscriptionArray &subscription_array) override;
  	bool applyCommandParameters(const vehicle_command_s &command) override { return FlightTask::applyCommandParameters(command); };
  	bool updateInitialize() override;
  
  protected:
  
  	bool _sticks_data_required = true; /**< let inherited task-class define if it depends on stick data */
  	matrix::Vector<float, 4> _sticks; /**< unmodified manual stick inputs */
  	matrix::Vector<float, 4> _sticks_expo; /**< modified manual sticks using expo function*/
  
  	float stickDeadzone() const { return _stick_dz.get(); }
  
  private:
  
  	bool _evaluateSticks(); /**< checks and sets stick inputs */
  	void _applyGearSwitch(uint8_t gswitch); /**< Sets gears according to switch */
  
  	uORB::Subscription<manual_control_setpoint_s> *_sub_manual_control_setpoint{nullptr};
  
  	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
  					(ParamFloat<px4::params::MPC_HOLD_DZ>) _stick_dz, /**< 0-deadzone around the center for the sticks */
  					(ParamFloat<px4::params::MPC_XY_MAN_EXPO>)
  					_xy_vel_man_expo, /**< ratio of exponential curve for stick input in xy direction */
  					(ParamFloat<px4::params::MPC_Z_MAN_EXPO>)
  					_z_vel_man_expo, /**< ratio of exponential curve for stick input in z direction */
  					(ParamFloat<px4::params::MPC_YAW_EXPO>)
  					_yaw_expo /**< ratio of exponential curve for stick input in yaw for modes except acro */
  				       )
  };
  