From 7d30db13956b468434f418ce8ccce2ddb9915a70 Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis@px4.io>
Date: Tue, 17 Apr 2018 13:31:27 +0200
Subject: [PATCH] FlightTaskAuto: subscribe to home position

---
 src/lib/FlightTasks/tasks/FlightTaskAuto.cpp | 4 ++++
 src/lib/FlightTasks/tasks/FlightTaskAuto.hpp | 3 +++
 2 files changed, 7 insertions(+)

diff --git a/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp b/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp
index 96ddb25c10..26e08460c4 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp
@@ -50,6 +50,10 @@ bool FlightTaskAuto::initializeSubscriptions(SubscriptionArray &subscription_arr
 		return false;
 	}
 
+	if (!subscription_array.get(ORB_ID(home_position), _sub_home_position)) {
+		return false;
+	}
+
 	return true;
 }
 
diff --git a/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp b/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp
index dae425b7a7..a7fe25f672 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp
@@ -42,6 +42,7 @@
 #include "FlightTask.hpp"
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/position_setpoint.h>
+#include <uORB/topics/home_position.h>
 #include <lib/ecl/geo/geo.h>
 
 /**
@@ -77,6 +78,8 @@ protected:
 	float _mc_cruise_speed{0.0f}; /**< Requested cruise speed. If not valid, default cruise speed is used. */
 	WaypointType _type{WaypointType::idle}; /**< Type of current target triplet. */
 
+	uORB::Subscription<home_position_s> *_sub_home_position{nullptr};
+
 private:
 	uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};