AC_PosControl_Sub.h

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#pragma once

#include "AC_PosControl.h"

class AC_PosControl_Sub : public AC_PosControl {
public:
    AC_PosControl_Sub(const AP_AHRS_View & ahrs, const AP_InertialNav& inav,
                      const AP_Motors& motors, AC_AttitudeControl& attitude_control);

    void set_alt_max(float alt) { _alt_max = alt; }

    void set_alt_min(float alt) { _alt_min = alt; }

    void set_alt_target_from_climb_rate(float climb_rate_cms, float dt, bool force_descend) override;

    void set_alt_target_from_climb_rate_ff(float climb_rate_cms, float dt, bool force_descend) override;

private:
    float       _alt_max; // max altitude - should be updated from the main code with altitude limit from fence
    float       _alt_min; // min altitude - should be updated from the main code with altitude limit from fence
};