From f0282bcd8fed1f3800c735d631275a6f816bae23 Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis.mannhart@gmail.com>
Date: Mon, 23 Jul 2018 15:31:58 +0200
Subject: [PATCH] FlightTaskAuto/Line: make params protected and add
 NAC_ACC_RAD and MPC_YAW_MODE

---
 src/lib/FlightTasks/tasks/FlightTaskAuto.hpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp b/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp
index c5d6d07401..44a451d15c 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp
@@ -92,7 +92,6 @@ protected:
 	WaypointType _type{WaypointType::idle}; /**< Type of current target triplet. */
 	uORB::Subscription<home_position_s> *_sub_home_position{nullptr};
 
-
 	State _current_state{State::none};
 
 	float _speed_at_target = 0.0f; /**< Desired velocity at target. */
@@ -100,9 +99,9 @@ protected:
 	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
 					(ParamFloat<px4::params::MPC_XY_CRUISE>) MPC_XY_CRUISE,
 					(ParamFloat<px4::params::MPC_CRUISE_90>) MPC_CRUISE_90, // speed at corner when angle is 90 degrees move to line
-					(ParamFloat<px4::params::NAV_ACC_RAD>) NAV_ACC_RAD // acceptance radius at which waypoints are updated move to line
-				       ); /**< Default mc cruise speed.*/
-
+					(ParamFloat<px4::params::NAV_ACC_RAD>) NAV_ACC_RAD, // acceptance radius at which waypoints are updated move to line
+				    (ParamInt<px4::params::MPC_YAW_MODE>) MPC_YAW_MODE // defines how heading is executed
+ 					); 
 
 private:
 	matrix::Vector2f _lock_position_xy{NAN, NAN}; /**< if no valid triplet is received, lock positition to current position */
@@ -126,4 +125,5 @@ private:
 	bool _evaluateGlobalReference(); /**< Check is global reference is available. */
 	float _getVelocityFromAngle(const float angle); /**< Computes the speed at target depending on angle. */
 	State _getCurrentState(); /**< Computes the current vehicle state based on the vehicle position and navigator triplets. */
+	void _set_heading_from_mode(); /**< @see  MPC_YAW_MODE */
 };