navigator: reset triplets during onboard/offboard mission update

src/modules/navigator/mission.cpp

@@ -303,6 +303,9 @@ Mission::find_offboard_land_start()
 void
 Mission::update_onboard_mission()
 {
+	/* reset triplets */
+	_navigator->reset_triplets();
+
 	if (orb_copy(ORB_ID(onboard_mission), _navigator->get_onboard_mission_sub(), &_onboard_mission) == OK) {
 		/* accept the current index set by the onboard mission if it is within bounds */
 		if (_onboard_mission.current_seq >= 0
@@ -350,6 +353,9 @@ Mission::update_offboard_mission()
 {
 	bool failed = true;
 
+	/* reset triplets */
+	_navigator->reset_triplets();
+
 	if (orb_copy(ORB_ID(offboard_mission), _navigator->get_offboard_mission_sub(), &_offboard_mission) == OK) {
 		// The following is not really a warning, but it can be useful to have this message in the log file
 		PX4_WARN("offboard mission updated: dataman_id=%d, count=%d, current_seq=%d", _offboard_mission.dataman_id,

src/modules/navigator/navigator.h

@@ -189,6 +189,12 @@ public:
 	 */
 	void		reset_cruising_speed();
 
+
+	/**
+	 *  Set triplets to invalid
+	 */
+	void 		reset_triplets();
+
 	/**
 	 * Get the target throttle
 	 *

src/modules/navigator/navigator_main.cpp

@@ -657,10 +657,7 @@ Navigator::task_main()
 		/* if nothing is running, set position setpoint triplet invalid once */
 		if (_navigation_mode == nullptr && !_pos_sp_triplet_published_invalid_once) {
 			_pos_sp_triplet_published_invalid_once = true;
-			_pos_sp_triplet.previous.valid = false;
-			_pos_sp_triplet.current.valid = false;
-			_pos_sp_triplet.next.valid = false;
-			_pos_sp_triplet_updated = true;
+			reset_triplets();
 		}
 
 		if (_pos_sp_triplet_updated) {
@@ -815,6 +812,17 @@ Navigator::reset_cruising_speed()
 	_mission_cruising_speed_fw = -1.0f;
 }
 
+void
+Navigator::reset_triplets()
+{
+	_pos_sp_triplet.current.valid = false;
+	_pos_sp_triplet.previous.valid = false;
+	_pos_sp_triplet.next.valid = false;
+	_pos_sp_triplet_updated = true;
+}
+
+
+
 float
 Navigator::get_cruising_throttle()
 {