navigator: report when a waypoint has been reached not when the whole mission is finished

src/modules/navigator/mission.cpp

@@ -38,6 +38,7 @@
  * @author Julian Oes <julian@oes.ch>
  * @author Thomas Gubler <thomasgubler@gmail.com>
  * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Ban Siesta <bansiesta@gmail.com>
  */
 
 #include <sys/types.h>
@@ -149,18 +150,12 @@ Mission::on_active()
 
 	/* lets check if we reached the current mission item */
 	if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) {
+		set_mission_item_reached();
 		if (_mission_item.autocontinue) {
 			/* switch to next waypoint if 'autocontinue' flag set */
 			advance_mission();
 			set_mission_items();
 
-		} else {
-			/* else just report that item reached */
-			if (_mission_type == MISSION_TYPE_OFFBOARD) {
-				if (!(_navigator->get_mission_result()->seq_reached == _current_offboard_mission_index && _navigator->get_mission_result()->reached)) {
-					set_mission_item_reached();
-				}
-			}
 		}
 
 	} else if (_mission_type != MISSION_TYPE_NONE &&_param_altmode.get() == MISSION_ALTMODE_FOH) {
@@ -395,7 +390,6 @@ Mission::set_mission_items()
 		/* reuse setpoint for LOITER only if it's not IDLE */
 		_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER);
 
-		reset_mission_item_reached();
 		set_mission_finished();
 
 		_navigator->set_position_setpoint_triplet_updated();