4 files changed, 27 insertions, 26 deletions

diff --git a/src/modules/navigator/datalinkloss.cpp b/src/modules/navigator/datalinkloss.cpp
index 4e3d25840..66f1c8c73 100644
--- a/src/modules/navigator/datalinkloss.cpp
+++ b/src/modules/navigator/datalinkloss.cpp
@@ -154,7 +154,8 @@ DataLinkLoss::set_dll_item()
 	}
 	case DLL_STATE_TERMINATE: {
 		/* Request flight termination from the commander */
-		pos_sp_triplet->flight_termination = true;
+		_navigator->get_mission_result()->flight_termination = true;
+		_navigator->publish_mission_result();
 		warnx("not switched to manual: request flight termination");
 		pos_sp_triplet->previous.valid = false;
 		pos_sp_triplet->current.valid = false;
@@ -180,23 +181,25 @@ DataLinkLoss::advance_dll()
 	switch (_dll_state) {
 	case DLL_STATE_NONE:
 		/* Check the number of data link losses. If above home fly home directly */
-		if (!_param_skipcommshold.get()) {
-			/* if number of data link losses limit is not reached fly to comms hold wp */
-			if (_navigator->get_vstatus()->data_link_lost_counter > _param_numberdatalinklosses.get()) {
-				warnx("%d data link losses, limit is %d, fly to airfield home",
-						_navigator->get_vstatus()->data_link_lost_counter, _param_numberdatalinklosses.get());
-				mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: too many DL losses, fly to home");
-				_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
-			} else {
+		/* if number of data link losses limit is not reached fly to comms hold wp */
+		if (_navigator->get_vstatus()->data_link_lost_counter > _param_numberdatalinklosses.get()) {
+			warnx("%d data link losses, limit is %d, fly to airfield home",
+					_navigator->get_vstatus()->data_link_lost_counter, _param_numberdatalinklosses.get());
+			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();
+			_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
+		} else {
+			if (!_param_skipcommshold.get()) {
 				warnx("fly to comms hold, datalink loss counter: %d", _navigator->get_vstatus()->data_link_lost_counter);
 				mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to comms hold");
 				_dll_state = DLL_STATE_FLYTOCOMMSHOLDWP;
+			} else {
+				/* comms hold wp not active, fly to airfield home directly */
+				warnx("Skipping comms hold wp. Flying directly to airfield home");
+				mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to airfield home, comms hold skipped");
+				_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
 			}
-		} else {
-			/* comms hold wp not active, fly to airfield home directly */
-			warnx("Skipping comms hold wp. Flying directly to airfield home");
-			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to airfield home, comms hold skipped");
-			_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
 		}
 		break;
 	case DLL_STATE_FLYTOCOMMSHOLDWP:
diff --git a/src/modules/navigator/gpsfailure.cpp b/src/modules/navigator/gpsfailure.cpp
index f0bbbcf1c..cd55f60b0 100644
--- a/src/modules/navigator/gpsfailure.cpp
+++ b/src/modules/navigator/gpsfailure.cpp
@@ -140,7 +140,8 @@ GpsFailure::set_gpsf_item()
 	switch (_gpsf_state) {
 	case GPSF_STATE_TERMINATE: {
 		/* Request flight termination from the commander */
-		pos_sp_triplet->flight_termination = true;
+		_navigator->get_mission_result()->flight_termination = true;
+		_navigator->publish_mission_result();
 		warnx("gps fail: request flight termination");
 	}
 	default:
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 81ceaaca2..c173ecd50 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -395,11 +395,9 @@ Navigator::task_main()
 		if (have_geofence_position_data) {
 			bool inside = _geofence.inside(_global_pos, _gps_pos, _sensor_combined.baro_alt_meter);
 			if (!inside) {
-				/* inform other apps via the sp triplet */
-				_pos_sp_triplet.geofence_violated = true;
-				if (_pos_sp_triplet.geofence_violated != true) {
-					_pos_sp_triplet_updated = true;
-				}
+				/* inform other apps via the mission result */
+				_mission_result.geofence_violated = true;
+				publish_mission_result();
 
 				/* Issue a warning about the geofence violation once */
 				if (!_geofence_violation_warning_sent) {
@@ -407,11 +405,9 @@ Navigator::task_main()
 					_geofence_violation_warning_sent = true;
 				}
 			} else {
-				/* inform other apps via the sp triplet */
-				_pos_sp_triplet.geofence_violated = false;
-				if (_pos_sp_triplet.geofence_violated != false) {
-					_pos_sp_triplet_updated = true;
-				}
+				/* inform other apps via the mission result */
+				_mission_result.geofence_violated = false;
+				publish_mission_result();
 				/* Reset the _geofence_violation_warning_sent field */
 				_geofence_violation_warning_sent = false;
 			}
diff --git a/src/modules/navigator/rcloss.cpp b/src/modules/navigator/rcloss.cpp
index 54f1813f5..651e31184 100644
--- a/src/modules/navigator/rcloss.cpp
+++ b/src/modules/navigator/rcloss.cpp
@@ -127,7 +127,8 @@ RCLoss::set_rcl_item()
 	}
 	case RCL_STATE_TERMINATE: {
 		/* Request flight termination from the commander */
-		pos_sp_triplet->flight_termination = true;
+		_navigator->get_mission_result()->flight_termination = true;
+		_navigator->publish_mission_result();
 		warnx("rc not recovered: request flight termination");
 		pos_sp_triplet->previous.valid = false;
 		pos_sp_triplet->current.valid = false;