diff --git a/src/modules/navigator/CMakeLists.txt b/src/modules/navigator/CMakeLists.txt
index c55cae3f07..eeeee03413 100644
--- a/src/modules/navigator/CMakeLists.txt
+++ b/src/modules/navigator/CMakeLists.txt
@@ -63,10 +63,11 @@ px4_add_module(
 	MAIN navigator
 	SRCS ${NAVIGATOR_SOURCES}
 	DEPENDS
+		adsb
 		dataman_client
 		geo
-		adsb
 		geofence_breach_avoidance
+		hysteresis
 		motion_planning
 		mission_feasibility_checker
 		rtl_time_estimator
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index 1e7efdb7dd..dc21a1328f 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -397,16 +397,6 @@ private:
 	// update subscriptions
 	void params_update();
 
-	/**
-	 * Publish a new position setpoint triplet for position controllers
-	 */
-	void publish_position_setpoint_triplet();
-
-	/**
-	 * Publish the mission result so commander and mavlink know what is going on
-	 */
-	void publish_mission_result();
-
 	void publish_navigator_status();
 
 	void publish_vehicle_command_ack(const vehicle_command_s &cmd, uint8_t result);
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index d2544c062c..0b48e103e3 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -920,11 +920,18 @@ void Navigator::run()
 		}
 
 		if (_pos_sp_triplet_updated) {
-			publish_position_setpoint_triplet();
+			_pos_sp_triplet.timestamp = hrt_absolute_time();
+			_pos_sp_triplet_pub.publish(_pos_sp_triplet);
+			_pos_sp_triplet_updated = false;
 		}
 
 		if (_mission_result_updated) {
-			publish_mission_result();
+			_mission_result.timestamp = hrt_absolute_time();
+			_mission_result_pub.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_updated = false;
 		}
 
 		// Set gimbal neutral if requested and delay is over
@@ -1144,13 +1151,6 @@ int Navigator::print_status()
 	return 0;
 }
 
-void Navigator::publish_position_setpoint_triplet()
-{
-	_pos_sp_triplet.timestamp = hrt_absolute_time();
-	_pos_sp_triplet_pub.publish(_pos_sp_triplet);
-	_pos_sp_triplet_updated = false;
-}
-
 float Navigator::get_default_acceptance_radius()
 {
 	return _param_nav_acc_rad.get();
@@ -1369,21 +1369,6 @@ int Navigator::custom_command(int argc, char *argv[])
 	return print_usage("unknown command");
 }
 
-void Navigator::publish_mission_result()
-{
-	_mission_result.timestamp = hrt_absolute_time();
-
-	/* lazily publish the mission result only once available */
-	_mission_result_pub.publish(_mission_result);
-
-	/* reset some of the flags */
-	_mission_result.item_do_jump_changed = false;
-	_mission_result.item_changed_index = 0;
-	_mission_result.item_do_jump_remaining = 0;
-
-	_mission_result_updated = false;
-}
-
 void Navigator::set_mission_failure_heading_timeout()
 {
 	if (!_mission_result.failure) {