From 6df299738e1a1041522e074acafe5f0dcaf627a3 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Wed, 21 Apr 2021 14:37:25 +0200
Subject: [PATCH] FlightTask: reactivate tasks on ground with empty setpoint

Such that they properly reset and don't try to take over smoothly from
their own setpoints generated in the last loop iteration.
---
 src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp
index a6af526492..941d05ea8e 100644
--- a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp
+++ b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp
@@ -20,7 +20,7 @@ bool FlightTask::activate(const vehicle_local_position_setpoint_s &last_setpoint
 
 void FlightTask::reActivate()
 {
-	activate(getPositionSetpoint());
+	activate(empty_setpoint);
 }
 
 bool FlightTask::updateInitialize()