From 2cf10a5e999ce1e5c2579a202755346a6ad18046 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 13 Jun 2015 17:31:58 +0200
Subject: [PATCH] Navigator: Publish mission validity in mission result

---
 src/modules/navigator/mission.cpp        | 9 +++++++++
 src/modules/navigator/navigator.h        | 3 +++
 src/modules/navigator/navigator_main.cpp | 4 ++++
 3 files changed, 16 insertions(+)

diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index a74e042a91..3848d16e5d 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -197,6 +197,11 @@ Mission::update_onboard_mission()
 			/* otherwise, just leave it */
 		}
 
+		// XXX check validity here as well
+		_navigator->get_mission_result()->valid = true;
+		_navigator->increment_mission_instance_count();
+		_navigator->set_mission_result_updated();
+
 	} else {
 		_onboard_mission.count = 0;
 		_onboard_mission.current_seq = 0;
@@ -234,6 +239,10 @@ Mission::update_offboard_mission()
 				dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
 				_navigator->get_home_position()->alt, _navigator->home_position_valid());
 
+		_navigator->get_mission_result()->valid = !failed;
+		_navigator->increment_mission_instance_count();
+		_navigator->set_mission_result_updated();
+
 	} else {
 		warnx("offboard mission update failed");
 	}
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index 782a297fbb..093e1be3c2 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -163,6 +163,8 @@ public:
 	float		get_acceptance_radius(float mission_item_radius);
 	int		get_mavlink_fd() { return _mavlink_fd; }
 
+	void		increment_mission_instance_count() { _mission_instance_count++; }
+
 private:
 
 	bool		_task_should_exit;		/**< if true, sensor task should exit */
@@ -205,6 +207,7 @@ private:
 	bool 		_home_position_set;
 
 	bool 		_mission_item_valid;		/**< flags if the current mission item is valid */
+	int		_mission_instance_count;	/**< instance count for the current mission */
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 8cfce50879..1460972cc2 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -125,6 +125,7 @@ Navigator::Navigator() :
 	_att_sp{},
 	_home_position_set(false),
 	_mission_item_valid(false),
+	_mission_instance_count(0),
 	_loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
 	_geofence{},
 	_geofence_violation_warning_sent(false),
@@ -663,6 +664,8 @@ int navigator_main(int argc, char *argv[])
 void
 Navigator::publish_mission_result()
 {
+	_mission_result.instance_count = _mission_instance_count;
+	
 	/* lazily publish the mission result only once available */
 	if (_mission_result_pub > 0) {
 		/* publish mission result */
@@ -679,6 +682,7 @@ Navigator::publish_mission_result()
 	_mission_result.item_do_jump_changed = false;
 	_mission_result.item_changed_index = 0;
 	_mission_result.item_do_jump_remaining = 0;
+	_mission_result.valid = true;
 }
 
 void