From 24b1ef93b234383c77a592ca9d744d4f3dd82fa6 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 8 Jun 2023 11:06:14 +0200 Subject: [PATCH] Mission: reset mission on landing only if last item was reached Signed-off-by: Silvan Fuhrer --- src/modules/navigator/mission.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 49fc61f63e..fec7efdebd 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -1812,8 +1812,9 @@ Mission::reset_mission(struct mission_s &mission) bool Mission::need_to_reset_mission() { - /* reset mission state when disarmed */ - if (_navigator->get_vstatus()->arming_state != vehicle_status_s::ARMING_STATE_ARMED && _need_mission_reset) { + // reset mission when disarmed, mission was actually started and we reached the last mission item + if (_navigator->get_vstatus()->arming_state != vehicle_status_s::ARMING_STATE_ARMED && _need_mission_reset + && (_current_mission_index == _mission.count - 1)) { _need_mission_reset = false; return true; }