From fc4fa169df9356203782c5912171495fb6556514 Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis.mannhart@gmail.com>
Date: Thu, 24 May 2018 08:50:46 +0200
Subject: [PATCH] FlightTaskManualStabilized: valid yaw is required

---
 .../FlightTasks/tasks/FlightTaskManualStabilized.cpp  | 11 +++++++----
 .../FlightTasks/tasks/FlightTaskManualStabilized.hpp  |  1 +
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
index 29597e2625..9d6dfaa41f 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
@@ -62,13 +62,16 @@ bool FlightTaskManualStabilized::activate()
 	_yaw_setpoint = _yaw;
 	_yawspeed_setpoint = 0.0f;
 	_constraints.tilt = math::radians(_tilt_max_man.get());
-
-	// need a valid yaw
-	ret = ret && PX4_ISFINITE(_yaw);
-
 	return ret;
 }
 
+bool FlightTaskManualStabilized::updateInitialize()
+{
+	bool ret = FlightTaskManual::updateInitialize();
+	// need a valid yaw-state
+	return ret && PX4_ISFINITE(_yaw);
+}
+
 void FlightTaskManualStabilized::_scaleSticks()
 {
 	/* Scale sticks to yaw and thrust using
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp
index 1dcd2ce788..e8e9e20865 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp
@@ -50,6 +50,7 @@ public:
 
 	virtual ~FlightTaskManualStabilized() = default;
 	bool activate() override;
+	bool updateInitialize() override;
 	bool update() override;
 	bool initializeSubscriptions(SubscriptionArray &subscription_array) override;