From 320c97c498cc6e8f2634f88147f0ef15ca9b24e3 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Wed, 23 Apr 2014 15:24:45 +0200
Subject: [PATCH] navigator: check if mission reached on vehicle_status updates

---
 src/modules/navigator/navigator_main.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 37009ff699..d4d23396a1 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -774,6 +774,13 @@ Navigator::task_main()
 					}
 				}
 
+				/* check if waypoint has been reached in MISSION, RTL and LAND modes */
+				if (myState == NAV_STATE_MISSION || myState == NAV_STATE_RTL || myState == NAV_STATE_LAND) {
+					if (check_mission_item_reached()) {
+						on_mission_item_reached();
+					}
+				}
+
 			} else {
 				/* navigator shouldn't act */
 				dispatch(EVENT_NONE_REQUESTED);