From 6c3f4133794a42d65b218a5c855fffdc44719ae7 Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Tue, 27 Oct 2020 15:06:28 +0300 Subject: [PATCH] mission: reset work_item_type during mission inactivation - this fixes a race condition which happens when an RTL is triggered during the final approach of a mission landing. In that case the mission inactive method is never called. Signed-off-by: RomanBapst --- src/modules/navigator/mission.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 33f386e472..f11da4d1c1 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -158,6 +158,9 @@ Mission::on_inactivation() } _time_mission_deactivated = hrt_absolute_time(); + + /* reset so current mission item gets restarted if mission was paused */ + _work_item_type = WORK_ITEM_TYPE_DEFAULT; } void