From 99de97a528ea98cea42b745d621059c238805a36 Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis@yuneecresearch.com>
Date: Fri, 9 Mar 2018 11:28:35 +0100
Subject: [PATCH] FlightTaskAuto: fix global reference update

---
 src/lib/FlightTasks/tasks/FlightTaskAuto.cpp | 6 +++---
 src/lib/FlightTasks/tasks/FlightTaskAuto.hpp | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp b/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp
index ff5ba51670..f86305f2fe 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp
@@ -68,6 +68,7 @@ bool FlightTaskAuto::activate()
 bool FlightTaskAuto::updateInitialize()
 {
 	bool ret = FlightTask::updateInitialize();
+	_evaluateVehicleGlobalPosition();
 	return (ret && _evaluateTriplets());
 }
 
@@ -174,18 +175,17 @@ bool FlightTaskAuto::_isFinite(const position_setpoint_s sp)
 	return (PX4_ISFINITE(sp.lat) && PX4_ISFINITE(sp.lon) && PX4_ISFINITE(sp.alt));
 }
 
-bool FlightTaskAuto::_evaluateVehicleGlobalPosition()
+void FlightTaskAuto::_evaluateVehicleGlobalPosition()
 {
 	FlightTask::_evaluateVehicleLocalPosition();
 
 	/* Check if reference has changed and update. */
 	if (_sub_vehicle_local_position->get().ref_timestamp != _time_stamp_reference) {
+		PX4_INFO("inside");
 		map_projection_init(&_reference_position,
 				    _sub_vehicle_local_position->get().ref_lat,
 				    _sub_vehicle_local_position->get().ref_lon);
 		_reference_altitude = _sub_vehicle_local_position->get().ref_alt;
 		_time_stamp_reference = _sub_vehicle_local_position->get().ref_timestamp;
 	}
-
-	return true;
 }
diff --git a/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp b/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp
index 15594e655b..c4e89ad1aa 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp
@@ -91,5 +91,5 @@ private:
 	bool _isFinite(const position_setpoint_s sp);
 	void _updateReference();
 
-	bool _evaluateVehicleGlobalPosition(); /**< Required for reference update */
+	void _evaluateVehicleGlobalPosition(); /**< Required for reference update */
 };