mission: reset current sequence to the first item for finished old mi…

…ssion
PX4 · Sep 17, 2021 · 27ca85f · 27ca85f
1 parent 11fb67c
commit 27ca85f
Showing 1 changed file with 8 additions and 1 deletion.
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
@@ -588,7 +588,14 @@ Mission::restore_old_mission()
 	if (valid) {
 		_mission_changed = true;
 		_navigator->get_mission_result()->failure = false;
-		_current_mission_index = _old_mission.current_seq;
+
+		/* For completed old mission reset sequence to the first item. */
+		if (_old_mission.current_seq >= _old_mission.count) {
+			_current_mission_index = 0;
+
+		} else {
+			_current_mission_index = _old_mission.current_seq;
+		}
 
 		/* lock MISSION_STATE item */
 		int dm_lock_ret = dm_lock(DM_KEY_MISSION_STATE);