From 20484400531538d59da0e3113c02ae58a27dd2fd Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Fri, 16 May 2014 23:32:11 +0200
Subject: [PATCH] OP-1350 fix a review defect(a set intead of
 TakeOffLocationStatusGetget). Check if status is valid beside locationSet

---
 .../ManualControl/takeofflocationhandler.c    | 19 +++++++++++--------
 1 file changed, 11 insertions(+), 8 deletions(-)

diff --git a/flight/modules/ManualControl/takeofflocationhandler.c b/flight/modules/ManualControl/takeofflocationhandler.c
index a00785b30..42a10777d 100644
--- a/flight/modules/ManualControl/takeofflocationhandler.c
+++ b/flight/modules/ManualControl/takeofflocationhandler.c
@@ -62,6 +62,7 @@ void takeOffLocationHandlerInit()
 void takeOffLocationHandler()
 {
     uint8_t armed;
+    uint8_t status;
 
     FlightStatusArmedGet(&armed);
 
@@ -70,14 +71,15 @@ void takeOffLocationHandler()
         return;
     }
 
+    TakeOffLocationStatusGet(&status);
+
     switch (armed) {
     case FLIGHTSTATUS_ARMED_ARMING:
     case FLIGHTSTATUS_ARMED_ARMED:
-        if (!locationSet) {
+        if (!locationSet || status != TAKEOFFLOCATION_STATUS_VALID) {
             uint8_t mode;
-            uint8_t status;
-            TakeOffLocationStatusSet(&status);
             TakeOffLocationModeGet(&mode);
+
             if ((mode != TAKEOFFLOCATION_MODE_PRESET) || (status == TAKEOFFLOCATION_STATUS_INVALID)) {
                 SetTakeOffLocation();
             } else {
@@ -93,8 +95,8 @@ void takeOffLocationHandler()
             TakeOffLocationModeGet(&mode);
             if (mode == TAKEOFFLOCATION_MODE_ARMINGLOCATION) {
                 locationSet = false;
-                uint8_t newStatus = TAKEOFFLOCATION_STATUS_INVALID;
-                TakeOffLocationStatusSet(&newStatus);
+                status = TAKEOFFLOCATION_STATUS_INVALID;
+                TakeOffLocationStatusSet(&status);
             }
         }
         break;
@@ -113,9 +115,10 @@ void SetTakeOffLocation()
     PositionStateData positionState;
     PositionStateGet(&positionState);
 
-    takeOffLocation.North = positionState.North;
-    takeOffLocation.East  = positionState.East;
-    takeOffLocation.Down  = positionState.Down;
+    takeOffLocation.North  = positionState.North;
+    takeOffLocation.East   = positionState.East;
+    takeOffLocation.Down   = positionState.Down;
+    takeOffLocation.Status = TAKEOFFLOCATION_STATUS_VALID;
 
     TakeOffLocationSet(&takeOffLocation);
     locationSet = true;