From dcdf4d50a086bdb7a41ebf989adaa3a3076de4f3 Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis.mannhart@gmail.com>
Date: Fri, 29 Dec 2017 10:09:05 +0100
Subject: [PATCH] FlightTasks: add stabilized and fix switchTask for Altitude
 and Position

---
 src/lib/FlightTasks/FlightTasks.cpp | 8 ++++++--
 src/lib/FlightTasks/FlightTasks.hpp | 2 ++
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/lib/FlightTasks/FlightTasks.cpp b/src/lib/FlightTasks/FlightTasks.cpp
index 2c3bf8c58e..ba8b08c91b 100644
--- a/src/lib/FlightTasks/FlightTasks.cpp
+++ b/src/lib/FlightTasks/FlightTasks.cpp
@@ -53,11 +53,15 @@ int FlightTasks::switchTask(int task_number)
 		break;
 
 	case 3:
-		_current_task = new (&_task_union.altitude) FlightTaskSport(this, "MANALT");
+		_current_task = new (&_task_union.altitude) FlightTaskManualAltitude(this, "MANALT");
 		break;
 
 	case 4:
-		_current_task = new (&_task_union.position) FlightTaskSport(this, "MANPOS");
+		_current_task = new (&_task_union.position) FlightTaskManualPosition(this, "MANPOS");
+		break;
+
+	case 5:
+		_current_task = new (&_task_union.stabilized) FlightTaskManualStabilized(this, "MANSTAB");
 		break;
 
 	case -1:
diff --git a/src/lib/FlightTasks/FlightTasks.hpp b/src/lib/FlightTasks/FlightTasks.hpp
index 09e6acbb82..850dbe00f7 100644
--- a/src/lib/FlightTasks/FlightTasks.hpp
+++ b/src/lib/FlightTasks/FlightTasks.hpp
@@ -45,6 +45,7 @@
 #include "tasks/FlightTaskManual.hpp"
 #include "tasks/FlightTaskManualAltitude.hpp"
 #include "tasks/FlightTaskManualPosition.hpp"
+#include "tasks/FlightTaskManualStabilized.hpp"
 #include "tasks/FlightTaskOrbit.hpp"
 #include "tasks/FlightTaskSport.hpp"
 
@@ -122,6 +123,7 @@ private:
 		~TaskUnion() {}
 
 		FlightTaskManual manual;
+		FlightTaskManualStabilized stabilized;
 		FlightTaskManualAltitude altitude;
 		FlightTaskManualPosition position;
 		FlightTaskOrbit orbit;