From 6dbed6636dc88659e213ac33145ca2685130ea6f Mon Sep 17 00:00:00 2001
From: Simone Guscetti <simone@yuneecresearch.com>
Date: Thu, 1 Nov 2018 17:45:13 +0100
Subject: [PATCH] FlightTasks: Add interface for landing gear

---
 src/lib/FlightTasks/FlightTasks.cpp | 10 ++++++++++
 src/lib/FlightTasks/FlightTasks.hpp |  6 ++++++
 2 files changed, 16 insertions(+)

diff --git a/src/lib/FlightTasks/FlightTasks.cpp b/src/lib/FlightTasks/FlightTasks.cpp
index 4c5ec5d8ea..0a51add417 100644
--- a/src/lib/FlightTasks/FlightTasks.cpp
+++ b/src/lib/FlightTasks/FlightTasks.cpp
@@ -47,6 +47,16 @@ const vehicle_constraints_s FlightTasks::getConstraints()
 	}
 }
 
+const landing_gear_s FlightTasks::getGear()
+{
+	if (isAnyTaskActive()) {
+		return _current_task.task->getGear();
+
+	} else {
+		return FlightTask::landing_gear_default_keep;
+	}
+}
+
 const vehicle_trajectory_waypoint_s FlightTasks::getAvoidanceWaypoint()
 {
 	if (isAnyTaskActive()) {
diff --git a/src/lib/FlightTasks/FlightTasks.hpp b/src/lib/FlightTasks/FlightTasks.hpp
index 3a07d25ae3..dc5020c2b2 100644
--- a/src/lib/FlightTasks/FlightTasks.hpp
+++ b/src/lib/FlightTasks/FlightTasks.hpp
@@ -78,6 +78,12 @@ public:
 	 */
 	const vehicle_constraints_s getConstraints();
 
+	/**
+	 * Get landing gear position.
+	 * @return landing gear
+	 */
+	const landing_gear_s getGear();
+
 	/**
 	 * Get task avoidance desired waypoints
 	 * @return auto triplets in the mc_pos_control