From c4aa17a04c87f1746c037a07de71e44e01860037 Mon Sep 17 00:00:00 2001
From: abeck70 <abeck70@icloud.com>
Date: Fri, 17 Apr 2015 23:06:02 +1000
Subject: [PATCH] OP-1760 autotakeoff pathplanner now uses pathstatus in
 conditionLegRemaining

---
 flight/modules/PathPlanner/pathplanner.c | 14 +++-----------
 1 file changed, 3 insertions(+), 11 deletions(-)

diff --git a/flight/modules/PathPlanner/pathplanner.c b/flight/modules/PathPlanner/pathplanner.c
index 7a50910d8..e29e8b1d1 100644
--- a/flight/modules/PathPlanner/pathplanner.c
+++ b/flight/modules/PathPlanner/pathplanner.c
@@ -555,18 +555,10 @@ static uint8_t conditionDistanceToTarget()
  */
 static uint8_t conditionLegRemaining()
 {
-    PathDesiredData pathDesired;
-    PositionStateData positionState;
+    PathStatusData pathStatus;
+    PathStatusGet(&pathStatus);
 
-    PathDesiredGet(&pathDesired);
-    PositionStateGet(&positionState);
-
-    float cur[3] = { positionState.North, positionState.East, positionState.Down };
-    struct path_status progress;
-
-    path_progress(&pathDesired,
-                  cur, &progress, mode3D);
-    if (progress.fractional_progress >= 1.0f - pathAction.ConditionParameters[0]) {
+    if (pathStatus.fractional_progress >= (1.0f - pathAction.ConditionParameters[0])) {
         return true;
     }
     return false;