From 12290c27e654d01a81f427f1be3cb33ba39beb75 Mon Sep 17 00:00:00 2001
From: MaEtUgR <maetugr@gmail.com>
Date: Thu, 12 Jul 2018 10:33:36 +0200
Subject: [PATCH] FlightTask: update global reference

For the geo.h C library to convert between global and local frame
we need an up to date global reference which is currently inside the
vehicle_local_position message.
---
 src/lib/FlightTasks/tasks/FlightTask.cpp | 8 ++++++--
 src/lib/FlightTasks/tasks/FlightTask.hpp | 1 +
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/src/lib/FlightTasks/tasks/FlightTask.cpp b/src/lib/FlightTasks/tasks/FlightTask.cpp
index 163ce95c9a..dbe318b66d 100644
--- a/src/lib/FlightTasks/tasks/FlightTask.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTask.cpp
@@ -1,5 +1,6 @@
 #include "FlightTask.hpp"
 #include <mathlib/mathlib.h>
+#include <lib/ecl/geo/geo.h>
 
 constexpr uint64_t FlightTask::_timeout;
 // First index of empty_setpoint corresponds to time-stamp and requires a finite number.
@@ -101,8 +102,11 @@ bool FlightTask::_evaluateVehicleLocalPosition()
 			_dist_to_bottom =  _sub_vehicle_local_position->get().dist_bottom;
 		}
 
-		// estimator specified vehicle limits
-
+		// global frame reference coordinates to enable conversions
+		if (_sub_vehicle_local_position->get().xy_global && _sub_vehicle_local_position->get().z_global) {
+			globallocalconverter_init(_sub_vehicle_local_position->get().ref_lat, _sub_vehicle_local_position->get().ref_lon,
+						  _sub_vehicle_local_position->get().ref_alt, _sub_vehicle_local_position->get().ref_timestamp);
+		}
 
 		// We don't check here if states are valid or not.
 		// Validity checks are done in the sub-classes.
diff --git a/src/lib/FlightTasks/tasks/FlightTask.hpp b/src/lib/FlightTasks/tasks/FlightTask.hpp
index 9992d50a2e..abf6c9c653 100644
--- a/src/lib/FlightTasks/tasks/FlightTask.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTask.hpp
@@ -44,6 +44,7 @@
 #include <px4_module_params.h>
 #include <drivers/drv_hrt.h>
 #include <matrix/matrix/math.hpp>
+#include <uORB/Subscription.hpp>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
 #include <uORB/topics/vehicle_command.h>