Merge pull request #1443 from PX4/fix_strangertl

Fix strange RTL behavior

4 files changed, 7 insertions, 3 deletions

diff --git a/src/modules/navigator/datalinkloss.cpp b/src/modules/navigator/datalinkloss.cpp
index 66f1c8c73..e789fd10d 100644
--- a/src/modules/navigator/datalinkloss.cpp
+++ b/src/modules/navigator/datalinkloss.cpp
@@ -156,6 +156,7 @@ DataLinkLoss::set_dll_item()
 		/* Request flight termination from the commander */
 		_navigator->get_mission_result()->flight_termination = true;
 		_navigator->publish_mission_result();
+		reset_mission_item_reached();
 		warnx("not switched to manual: request flight termination");
 		pos_sp_triplet->previous.valid = false;
 		pos_sp_triplet->current.valid = false;
@@ -188,6 +189,7 @@ DataLinkLoss::advance_dll()
 			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: too many DL losses, fly to airfield home");
 			_navigator->get_mission_result()->stay_in_failsafe = true;
 			_navigator->publish_mission_result();
+			reset_mission_item_reached();
 			_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
 		} else {
 			if (!_param_skipcommshold.get()) {
@@ -208,6 +210,7 @@ DataLinkLoss::advance_dll()
 		_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
 		_navigator->get_mission_result()->stay_in_failsafe = true;
 		_navigator->publish_mission_result();
+		reset_mission_item_reached();
 		break;
 	case DLL_STATE_FLYTOAIRFIELDHOMEWP:
 		_dll_state = DLL_STATE_TERMINATE;
@@ -215,6 +218,7 @@ DataLinkLoss::advance_dll()
 		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no manual control, terminating");
 		_navigator->get_mission_result()->stay_in_failsafe = true;
 		_navigator->publish_mission_result();
+		reset_mission_item_reached();
 		break;
 	case DLL_STATE_TERMINATE:
 		warnx("dll end");
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index d0611b9e5..0765e9b7c 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -712,6 +712,7 @@ Mission::set_mission_item_reached()
 	_navigator->get_mission_result()->reached = true;
 	_navigator->get_mission_result()->seq_reached = _current_offboard_mission_index;
 	_navigator->publish_mission_result();
+	reset_mission_item_reached();
 }
 
 void
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index a867dd0da..e933919fb 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -630,9 +630,6 @@ Navigator::publish_mission_result()
 		/* advertise and publish */
 		_mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result);
 	}
-	/* reset reached bool */
-	_mission_result.reached = false;
-	_mission_result.finished = false;
 }
 
 void
diff --git a/src/modules/navigator/rcloss.cpp b/src/modules/navigator/rcloss.cpp
index 5564a1c42..42392e739 100644
--- a/src/modules/navigator/rcloss.cpp
+++ b/src/modules/navigator/rcloss.cpp
@@ -163,6 +163,7 @@ RCLoss::advance_rcl()
 			_rcl_state = RCL_STATE_TERMINATE;
 			_navigator->get_mission_result()->stay_in_failsafe = true;
 			_navigator->publish_mission_result();
+			reset_mission_item_reached();
 		}
 		break;
 	case RCL_STATE_LOITER:
@@ -171,6 +172,7 @@ RCLoss::advance_rcl()
 		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RC not regained, terminating");
 		_navigator->get_mission_result()->stay_in_failsafe = true;
 		_navigator->publish_mission_result();
+		reset_mission_item_reached();
 		break;
 	case RCL_STATE_TERMINATE:
 		warnx("rcl end");