From 6ec9ff64d1cde006277bd8dc4e72f317119c50e8 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Wed, 29 Nov 2017 15:42:04 +0100
Subject: [PATCH] FlightTaskManual/Orbit: make sure we are not required stick
 input data during orbit

---
 src/lib/FlightTasks/tasks/FlightTaskManual.cpp | 9 ++++++++-
 src/lib/FlightTasks/tasks/FlightTaskManual.hpp | 1 +
 src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp  | 4 +++-
 3 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/src/lib/FlightTasks/tasks/FlightTaskManual.cpp b/src/lib/FlightTasks/tasks/FlightTaskManual.cpp
index 65738f6cda..55b67e486f 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManual.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManual.cpp
@@ -90,7 +90,14 @@ bool FlightTaskManual::initializeSubscriptions(SubscriptionArray &subscription_a
 
 bool FlightTaskManual::updateInitialize()
 {
-	return FlightTask::updateInitialize() && _evaluateSticks();
+	bool ret = FlightTask::updateInitialize();
+	const bool sticks_available = _evaluateSticks();
+
+	if (_sticks_data_required) {
+		ret = ret && sticks_available;
+	}
+
+	return ret;
 }
 
 bool FlightTaskManual::update()
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManual.hpp b/src/lib/FlightTasks/tasks/FlightTaskManual.hpp
index a2625e27e3..f06f5bc431 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManual.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManual.hpp
@@ -63,6 +63,7 @@ public:
 protected:
 	matrix::Vector<float, 4> _sticks;
 	bool _evaluateSticks();
+	bool _sticks_data_required = true; /**< let sibling task define if it depends on stick data */
 
 	float get_input_frame_yaw() { return _yaw; }
 
diff --git a/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp b/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
index 1ab8c7974e..b2bfcee1c2 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
@@ -47,7 +47,9 @@ using namespace matrix;
 
 FlightTaskOrbit::FlightTaskOrbit(control::SuperBlock *parent, const char *name) :
 	FlightTaskManual(parent, name)
-{}
+{
+	_sticks_data_required = false;
+}
 
 bool FlightTaskOrbit::activate()
 {