From 4697bf428ba6ac4fc11d030c6fc1c9165c216a9f Mon Sep 17 00:00:00 2001 From: Florian Achermann Date: Tue, 12 Jun 2018 18:11:14 +0200 Subject: [PATCH] Navigator Fix: Do not set the closest mission item in normal mission mode (#9646) - fixes #9606 --- src/modules/navigator/mission.cpp | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 2e4b552196..fa7b2ea186 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -155,7 +155,11 @@ void Mission::on_activation() { if (_mission_waypoints_changed) { - _current_offboard_mission_index = index_closest_mission_item(); + // do not set the closest mission item in the normal mission mode + if (_mission_execution_mode != mission_result_s::MISSION_EXECUTION_MODE_NORMAL) { + _current_offboard_mission_index = index_closest_mission_item(); + } + _mission_waypoints_changed = false; } @@ -199,7 +203,11 @@ Mission::on_active() /* reset mission items if needed */ if (offboard_updated || _mission_waypoints_changed || _execution_mode_changed) { if (_mission_waypoints_changed) { - _current_offboard_mission_index = index_closest_mission_item(); + // do not set the closest mission item in the normal mission mode + if (_mission_execution_mode != mission_result_s::MISSION_EXECUTION_MODE_NORMAL) { + _current_offboard_mission_index = index_closest_mission_item(); + } + _mission_waypoints_changed = false; }