From 8816601efb8c26b709a2c1117479af115436155b Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Wed, 10 Mar 2021 13:57:59 +0100
Subject: [PATCH] FlightTaskManualAcceleration: fix velocity setpoint
 initialization

---
 .../tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
index 546fc64d99..6136eb4cf1 100644
--- a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
+++ b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
@@ -48,10 +48,10 @@ bool FlightTaskManualAcceleration::activate(const vehicle_local_position_setpoin
 	bool ret = FlightTaskManualAltitudeSmoothVel::activate(last_setpoint);
 
 	if (PX4_ISFINITE(last_setpoint.vx)) {
-		_velocity_setpoint.xy() = Vector2f(last_setpoint.vx, last_setpoint.vy);
+		_stick_acceleration_xy.resetVelocity(Vector2f(last_setpoint.vx, last_setpoint.vy));
 
 	} else {
-		_velocity_setpoint.xy() = _velocity.xy();
+		_stick_acceleration_xy.resetVelocity(_velocity.xy());
 	}
 
 	_stick_acceleration_xy.resetPosition();