From 9c1f3306a40540ba740fa59c12d7b3f922d57395 Mon Sep 17 00:00:00 2001
From: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Date: Wed, 15 Oct 2025 13:21:28 -0800
Subject: [PATCH] mission: delay until: mark next setpoint invalid (#25728)

Fixes bug with the NAV_CMD_DELAY where the copter would "pace" back and forth while waiting at the delay waypoint
---
 src/modules/navigator/mission.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 08a200eda0..68226b17a7 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -263,6 +263,10 @@ void Mission::setActiveMissionItems()
 			pos_sp_triplet->next.valid = false;
 		}
 
+	} else if (_mission_item.nav_cmd == NAV_CMD_DELAY) {
+		// Invalidate next waypoint to ensure vehicle holds position and doesn't try to track ahead
+		pos_sp_triplet->next.valid = false;
+
 	} else {
 		handleVtolTransition(new_work_item_type, next_mission_items, num_found_items);
 	}