From f78465428cd4f1eca595c95bb4a66dc9f560414d Mon Sep 17 00:00:00 2001
From: Junwoo Hwang <junwoo@auterion.com>
Date: Fri, 11 Mar 2022 11:42:01 +0100
Subject: [PATCH] Stick Verbose Functions : Edit other FlightTasks using
 checkAndUpdateStickInputs() functions and correct Throttle returned value
 inverse issue

---
 src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp   | 2 +-
 .../tasks/ManualAltitude/FlightTaskManualAltitude.cpp           | 2 +-
 src/modules/flight_mode_manager/tasks/Utility/Sticks.hpp        | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
index 5e0b09a432..d1105c681c 100644
--- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
+++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
@@ -245,7 +245,7 @@ void FlightTaskAuto::_prepareLandSetpoints()
 	}
 
 	// User input assisted landing
-	if (_param_mpc_land_rc_help.get() && _sticks.checkAndSetStickInputs()) {
+	if (_param_mpc_land_rc_help.get() && _sticks.checkAndUpdateStickInputs()) {
 		// Stick full up -1 -> stop, stick full down 1 -> double the speed
 		vertical_speed *= (1 + _sticks.getPositionExpo()(2));
 
diff --git a/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp b/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
index 3764c1d948..0a07203713 100644
--- a/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
+++ b/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
@@ -50,7 +50,7 @@ bool FlightTaskManualAltitude::updateInitialize()
 {
 	bool ret = FlightTask::updateInitialize();
 
-	_sticks.checkAndSetStickInputs();
+	_sticks.checkAndUpdateStickInputs();
 
 	if (_sticks_data_required) {
 		ret = ret && _sticks.isAvailable();
diff --git a/src/modules/flight_mode_manager/tasks/Utility/Sticks.hpp b/src/modules/flight_mode_manager/tasks/Utility/Sticks.hpp
index 00246807d2..9d5a5169be 100644
--- a/src/modules/flight_mode_manager/tasks/Utility/Sticks.hpp
+++ b/src/modules/flight_mode_manager/tasks/Utility/Sticks.hpp
@@ -65,7 +65,7 @@ public:
 	// Helper functions to get stick values more intuitively
 	float getPitch() { return _positions(0); }
 	float getRoll() { return _positions(1); }
-	float getThrottle() { return _positions(2); }
+	float getThrottle() { return -_positions(2); } // Convert Z-axis(down) command to Up-axis frame
 	float getYaw() { return _positions(3); }
 
 	/**