From 802c68a62ef546286d88ae2ff77bc7cdd5bbbf4b Mon Sep 17 00:00:00 2001
From: xdwgood <1308455330@qq.com>
Date: Fri, 30 Oct 2020 09:04:23 +0800
Subject: [PATCH] Do not run transition flight task when not enable altitude
 control

---
 .../flight_tasks/tasks/Transition/FlightTaskTransition.cpp    | 2 --
 .../flight_tasks/tasks/Transition/FlightTaskTransition.hpp    | 4 ----
 src/modules/flight_mode_manager/FlightModeManager.cpp         | 3 ++-
 3 files changed, 2 insertions(+), 7 deletions(-)

diff --git a/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp b/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp
index e595e310ec..e2737a8e09 100644
--- a/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp
+++ b/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp
@@ -44,8 +44,6 @@ bool FlightTaskTransition::updateInitialize()
 
 bool FlightTaskTransition::activate(const vehicle_local_position_setpoint_s &last_setpoint)
 {
-	_transition_altitude = PX4_ISFINITE(last_setpoint.z) ? last_setpoint.z : _position(2);
-	_transition_yaw = PX4_ISFINITE(last_setpoint.yaw) ? last_setpoint.yaw : _yaw;
 	return FlightTask::activate(last_setpoint);
 }
 
diff --git a/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.hpp b/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.hpp
index 255ee47f82..ec71772a95 100644
--- a/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.hpp
+++ b/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.hpp
@@ -50,8 +50,4 @@ public:
 	bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
 	bool updateInitialize() override;
 	bool update() override;
-
-private:
-	float _transition_altitude = 0.0f;
-	float _transition_yaw = 0.0f;
 };
diff --git a/src/modules/flight_mode_manager/FlightModeManager.cpp b/src/modules/flight_mode_manager/FlightModeManager.cpp
index 993c23a789..43380f350f 100644
--- a/src/modules/flight_mode_manager/FlightModeManager.cpp
+++ b/src/modules/flight_mode_manager/FlightModeManager.cpp
@@ -171,7 +171,8 @@ void FlightModeManager::start_flight_task()
 		_flight_tasks.switchTask(FlightTaskIndex::None);
 	}
 
-	if (_vehicle_status_sub.get().in_transition_mode) {
+	// Only run transition flight task if altitude control is enabled (e.g. in Altitdue, Position, Auto flight mode)
+	if (_vehicle_status_sub.get().in_transition_mode && _vehicle_control_mode_sub.get().flag_control_altitude_enabled) {
 
 		should_disable_task = false;
 		FlightTaskError error = _flight_tasks.switchTask(FlightTaskIndex::Transition);