From 6f704bd1e438401c79a93135c0ce111f77a1cba3 Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis@px4.io>
Date: Thu, 26 Apr 2018 11:25:25 +0200
Subject: [PATCH] FlightTaskManualStabilized: replace limit with new member
 constraints structure

---
 src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
index a5ba3d276c..8c0a1c9f0a 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
@@ -42,8 +42,10 @@ using namespace matrix;
 
 bool FlightTaskManualStabilized::activate()
 {
+	bool ret = FlightTaskManual::activate();
 	_thrust_setpoint = matrix::Vector3f(0.0f, 0.0f, -_throttle_hover.get());
-	return FlightTaskManual::activate();
+	_constraints.tilt = math::radians(_tilt_max_man.get());
+	return ret;
 }
 
 void FlightTaskManualStabilized::_scaleSticks()
@@ -76,7 +78,7 @@ void FlightTaskManualStabilized::_updateThrustSetpoints()
 	_rotateIntoHeadingFrame(sp);
 
 	/* Ensure that maximum tilt is in [0.001, Pi] */
-	float tilt_max = math::constrain(math::radians(_tilt_max_man.get()), 0.001f, M_PI_F);
+	float tilt_max = math::constrain(_constraints.tilt, 0.001f, M_PI_F);
 
 	const float x = sp(0) * tilt_max;
 	const float y = sp(1) * tilt_max;