From 59087afac8ad6858fab2fec939c78fcb0c38f26d Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis@yuneecresearch.com>
Date: Thu, 1 Mar 2018 17:20:07 +0100
Subject: [PATCH] FlightTaskManualStabilized: replace minimum throttle with
 minum throttle specific for stabilized

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

diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
index 8d3ca33af4..a5ba3d276c 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
@@ -122,7 +122,7 @@ float FlightTaskManualStabilized::_throttleCurve()
 	float throttle = -((_sticks(2) - 1.0f) * 0.5f);
 
 	if (throttle < 0.5f) {
-		return (_throttle_hover.get() - _throttle_min.get()) / 0.5f * throttle + _throttle_min.get();
+		return (_throttle_hover.get() - _throttle_min_stabilized.get()) / 0.5f * throttle + _throttle_min_stabilized.get();
 
 	} else {
 		return (_throttle_max.get() - _throttle_hover.get()) / 0.5f * (throttle - 1.0f) + _throttle_max.get();
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp
index df85abd232..b56f5a1413 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp
@@ -69,7 +69,7 @@ private:
 	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManual,
 					(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _yaw_rate_scaling, /**< scaling factor from stick to yaw rate */
 					(ParamFloat<px4::params::MPC_MAN_TILT_MAX>) _tilt_max_man, /**< maximum tilt allowed for manual flight */
-					(ParamFloat<px4::params::MPC_THR_MIN>) _throttle_min, /**< minimum throttle that always has to be satisfied in flight*/
+					(ParamFloat<px4::params::MPC_MANTHR_MIN>) _throttle_min_stabilized, /**< minimum throttle for stabilized */
 					(ParamFloat<px4::params::MPC_THR_MAX>) _throttle_max, /**< maximum throttle that always has to be satisfied in flight*/
 					(ParamFloat<px4::params::MPC_THR_HOVER>) _throttle_hover /**< throttle value at which vehicle is at hover equilibrium */
 				       )