From e9498064ef5baf157292bb7516e05f0118618ab8 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Mon, 6 Jul 2020 16:33:29 +0200
Subject: [PATCH] StraightLine: allow resetting reached flag

---
 src/lib/flight_tasks/tasks/Utility/StraightLine.cpp | 4 ++--
 src/lib/flight_tasks/tasks/Utility/StraightLine.hpp | 6 ++++--
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/src/lib/flight_tasks/tasks/Utility/StraightLine.cpp b/src/lib/flight_tasks/tasks/Utility/StraightLine.cpp
index db38e522cfe..eb497268785 100644
--- a/src/lib/flight_tasks/tasks/Utility/StraightLine.cpp
+++ b/src/lib/flight_tasks/tasks/Utility/StraightLine.cpp
@@ -76,7 +76,7 @@ void StraightLine::generateSetpoints(matrix::Vector3f &position_setpoint, matrix
 
 	// check if we plan to go against the line direction which indicates we reached the goal
 	if (start_to_end * vehicle_to_end < 0) {
-		end_reached = true;
+		_end_reached = true;
 	}
 }
 
@@ -85,6 +85,6 @@ void StraightLine::setLineFromTo(const Vector3f &start, const Vector3f &end)
 	if (PX4_ISFINITE(start.norm_squared()) && PX4_ISFINITE(end.norm_squared())) {
 		_start = start;
 		_end = end;
-		end_reached = false;
+		_end_reached = false;
 	}
 }
diff --git a/src/lib/flight_tasks/tasks/Utility/StraightLine.hpp b/src/lib/flight_tasks/tasks/Utility/StraightLine.hpp
index 5097999cde2..cdd776da06a 100644
--- a/src/lib/flight_tasks/tasks/Utility/StraightLine.hpp
+++ b/src/lib/flight_tasks/tasks/Utility/StraightLine.hpp
@@ -66,7 +66,9 @@ public:
 	 *
 	 * @return false when on the way from start to end, true when end was reached
 	 */
-	bool isEndReached() { return end_reached; }
+	bool isEndReached() const { return _end_reached; }
+
+	void reset() { _end_reached = true; }
 
 private:
 	const matrix::Vector3f &_position; /**< vehicle position (dependency injection) */
@@ -75,5 +77,5 @@ private:
 	matrix::Vector3f _end; /**< End point of the straight line */
 	float _speed = 1.f; /**< desired speed between accelerating and decelerating */
 
-	bool end_reached = true; /**< Flag to lock further movement when end is reached */
+	bool _end_reached = true; /**< Flag to lock further movement when end is reached */
 };