From 2e44fe9eddce707fdce90757ff8586e14486ed68 Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Thu, 11 Aug 2016 18:37:48 +0200
Subject: [PATCH] update previous waypoint before transition command

---
 src/modules/navigator/mission.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index a671918c2e..a7b6871dde 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -645,6 +645,7 @@ Mission::set_mission_items()
 		/* yaw is aligned now */
 		if (_work_item_type == WORK_ITEM_TYPE_ALIGN) {
 			new_work_item_type = WORK_ITEM_TYPE_DEFAULT;
+			set_previous_pos_setpoint();
 		}
 
 	}