From edb2e3256f812c618e8472aa17c9348b397ce205 Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis@px4.io>
Date: Thu, 26 Apr 2018 11:21:26 +0200
Subject: [PATCH] FlightTask: getConstraints method and member

---
 src/lib/FlightTasks/tasks/FlightTask.cpp |  4 ++--
 src/lib/FlightTasks/tasks/FlightTask.hpp | 24 ++++++++++++++++++++++++
 2 files changed, 26 insertions(+), 2 deletions(-)

diff --git a/src/lib/FlightTasks/tasks/FlightTask.cpp b/src/lib/FlightTasks/tasks/FlightTask.cpp
index fb0dddeb90..6a43dd6e5e 100644
--- a/src/lib/FlightTasks/tasks/FlightTask.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTask.cpp
@@ -2,9 +2,9 @@
 #include <mathlib/mathlib.h>
 
 constexpr uint64_t FlightTask::_timeout;
-/* First index of empty_setpoint corresponds to time-stamp and requires a finite number. */
+// First index of empty_setpoint corresponds to time-stamp and requires a finite number.
 const vehicle_local_position_setpoint_s FlightTask::empty_setpoint = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {NAN, NAN, NAN}};
-
+const vehicle_constraints_s FlightTask::empty_constraints = {0, NAN, NAN, NAN};
 bool FlightTask::initializeSubscriptions(SubscriptionArray &subscription_array)
 {
 	if (!subscription_array.get(ORB_ID(vehicle_local_position), _sub_vehicle_local_position)) {
diff --git a/src/lib/FlightTasks/tasks/FlightTask.hpp b/src/lib/FlightTasks/tasks/FlightTask.hpp
index 411cf317e2..62755b386b 100644
--- a/src/lib/FlightTasks/tasks/FlightTask.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTask.hpp
@@ -47,6 +47,7 @@
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
 #include <uORB/topics/vehicle_command.h>
+#include <uORB/topics/vehicle_constraints.h>
 #include "../SubscriptionArray.hpp"
 
 class FlightTask : public ModuleParams
@@ -94,8 +95,25 @@ public:
 	 */
 	const vehicle_local_position_setpoint_s getPositionSetpoint();
 
+	/**
+	 * Get vehicle constraints.
+	 * The constraints can vary with task.
+	 * @return constraints
+	 */
+	const vehicle_constraints_s getConstraints() {return _constraints;};
+
+	/**
+	 * Empty setpoint.
+	 * All setpoints are set to NAN.
+	 */
 	static const vehicle_local_position_setpoint_s empty_setpoint;
 
+	/**
+	 * Empty constraints.
+	 * All constraints are set to NAN.
+	 */
+	static const vehicle_constraints_s empty_constraints;
+
 	/**
 	 * Call this whenever a parameter update notification is received (parameter_update uORB message)
 	 */
@@ -163,6 +181,12 @@ protected:
 	float _yawspeed_setpoint;
 	float _dist_to_bottom;
 
+	/**
+	 * Vehicle constraints.
+	 * The constraints can vary with tasks.
+	 */
+	vehicle_constraints_s _constraints;
+
 	DEFINE_PARAMETERS_CUSTOM_PARENT(ModuleParams,
 					(ParamFloat<px4::params::MPC_XY_VEL_MAX>) MPC_XY_VEL_MAX,
 					(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) MPC_Z_VEL_MAX_DN,