From 51d4c1f3053c644fc91730a99a2c16270114a241 Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis@px4.io>
Date: Wed, 25 Apr 2018 17:27:26 +0200
Subject: [PATCH] FlightTasks: add getter method for constraints

---
 src/lib/FlightTasks/FlightTasks.cpp | 10 ++++++++++
 src/lib/FlightTasks/FlightTasks.hpp |  6 ++++++
 2 files changed, 16 insertions(+)

diff --git a/src/lib/FlightTasks/FlightTasks.cpp b/src/lib/FlightTasks/FlightTasks.cpp
index e0a4050efa..c68bc62bcc 100644
--- a/src/lib/FlightTasks/FlightTasks.cpp
+++ b/src/lib/FlightTasks/FlightTasks.cpp
@@ -25,6 +25,16 @@ const vehicle_local_position_setpoint_s FlightTasks::getPositionSetpoint()
 	}
 }
 
+const vehicle_constraints_s FlightTasks::getConstraints()
+{
+	if (isAnyTaskActive()) {
+		return _current_task->getConstraints();
+
+	} else {
+		return FlightTask::empty_constraints;
+	}
+}
+
 int FlightTasks::switchTask(FlightTaskIndex new_task_index)
 {
 	/* switch to the running task, nothing to do */
diff --git a/src/lib/FlightTasks/FlightTasks.hpp b/src/lib/FlightTasks/FlightTasks.hpp
index c6cb1301b8..05b4a88deb 100644
--- a/src/lib/FlightTasks/FlightTasks.hpp
+++ b/src/lib/FlightTasks/FlightTasks.hpp
@@ -93,6 +93,12 @@ public:
 	 */
 	const vehicle_local_position_setpoint_s getPositionSetpoint();
 
+	/**
+	 * Get task dependent constraints
+	 * @return setpoint constraints that has to be respected by the position controller
+	 */
+	const vehicle_constraints_s getConstraints();
+
 	/**
 	 * Switch to the next task in the available list (for testing)
 	 * @return true on success, false on error