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/**
 * @file abs_follow.h
 *
 * @author Edgars Simanovskis <es@robotics.lv>
 * @author Martins Frolovs <martins.f@airdog.com>
 */

#ifndef NAVIGATOR_ABS_FOLLOW_H
#define NAVIGATOR_ABS_FOLLOW_H

#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>

#include <uORB/uORB.h>

#include "navigator_mode.h"
#include "mission_block.h"

class AbsFollow : public MissionBlock
{
public:
	AbsFollow(Navigator *navigator, const char *name);

	~AbsFollow();

	virtual void on_inactive();

	virtual void on_activation();

	virtual void on_active();

	virtual void execute_vehicle_command();

private:

	math::Vector<3>  _afollow_offset;			/**< offset from target for AFOLLOW mode */
	double	_target_lat;		/**< prediction for target latitude */
	double	_target_lon;		/**< prediction for target longitude */
	float	_target_alt;		/**< prediction for target altitude */
	float 	_init_alt; 			/**< initial altitude on abs follow start > */
	math::Vector<3>	_target_vel;	/**< target velocity vector */
	hrt_abstime _t_prev;

};

#endif