FlightTaskAuto: subscribe to home position

src/lib/FlightTasks/tasks/FlightTaskAuto.cpp

@@ -50,6 +50,10 @@ bool FlightTaskAuto::initializeSubscriptions(SubscriptionArray &subscription_arr
 		return false;
 	}
 
+	if (!subscription_array.get(ORB_ID(home_position), _sub_home_position)) {
+		return false;
+	}
+
 	return true;
 }
 

src/lib/FlightTasks/tasks/FlightTaskAuto.hpp

@@ -42,6 +42,7 @@
 #include "FlightTask.hpp"
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/position_setpoint.h>
+#include <uORB/topics/home_position.h>
 #include <lib/ecl/geo/geo.h>
 
 /**
@@ -77,6 +78,8 @@ protected:
 	float _mc_cruise_speed{0.0f}; /**< Requested cruise speed. If not valid, default cruise speed is used. */
 	WaypointType _type{WaypointType::idle}; /**< Type of current target triplet. */
 
+	uORB::Subscription<home_position_s> *_sub_home_position{nullptr};
+
 private:
 	uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};