From 73b4f452ccdfae7161cc6f2990d4c38ca492ccbc Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis@px4.io>
Date: Wed, 18 Apr 2018 11:17:53 +0200
Subject: [PATCH] FlightTask: add distance to bottom

---
 src/lib/FlightTasks/tasks/FlightTask.cpp | 6 ++++++
 src/lib/FlightTasks/tasks/FlightTask.hpp | 1 +
 2 files changed, 7 insertions(+)

diff --git a/src/lib/FlightTasks/tasks/FlightTask.cpp b/src/lib/FlightTasks/tasks/FlightTask.cpp
index fcd16c2a6e..0fbdb220d4 100644
--- a/src/lib/FlightTasks/tasks/FlightTask.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTask.cpp
@@ -59,6 +59,12 @@ bool FlightTask::_evaluateVehicleLocalPosition()
 		_position = matrix::Vector3f(&_sub_vehicle_local_position->get().x);
 		_velocity = matrix::Vector3f(&_sub_vehicle_local_position->get().vx);
 		_yaw = _sub_vehicle_local_position->get().yaw;
+		_dist_to_bottom = NAN;
+
+		if (_sub_vehicle_local_position->get().dist_bottom_valid) {
+			_dist_to_bottom =  _sub_vehicle_local_position->get().dist_bottom;
+		}
+
 		return true;
 
 	} else {
diff --git a/src/lib/FlightTasks/tasks/FlightTask.hpp b/src/lib/FlightTasks/tasks/FlightTask.hpp
index 7074df8e8d..9c09088958 100644
--- a/src/lib/FlightTasks/tasks/FlightTask.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTask.hpp
@@ -126,6 +126,7 @@ protected:
 	matrix::Vector3f _thrust_setpoint;
 	float _yaw_setpoint;
 	float _yawspeed_setpoint;
+	float _dist_to_bottom;
 
 	/**
 	 * Get the output data