From fab1b4e3669ce083c124b2ef04b38e7bdea663ed Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Tue, 10 Jun 2014 14:25:23 +0200
Subject: navigator: don't say triplet is valid in ALTCTL

---
 src/modules/navigator/navigator_main.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

(limited to 'src/modules/navigator/navigator_main.cpp')

diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 241d1d8a4..da06f826a 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -381,6 +381,14 @@ Navigator::task_main()
 			_loiter.reset();
 		}
 
+		/* if nothing is running, set position setpoint triplet invalid */
+		if (_navigation_mode == nullptr) {
+			_pos_sp_triplet.previous.valid = false;
+			_pos_sp_triplet.current.valid = false;
+			_pos_sp_triplet.next.valid = false;
+			_update_triplet = true;
+		}
+
 		if (_update_triplet ) {
 			publish_position_setpoint_triplet();
 			_update_triplet = false;
-- 
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