From 9b3e267c3a2e38888d719f0662a066598829bf69 Mon Sep 17 00:00:00 2001
From: potaito <3762382+potaito@users.noreply.github.com>
Date: Thu, 17 Oct 2024 20:04:11 +0200
Subject: [PATCH] navigator: Fix RTL_TYPE 2 by reloading mission

---
 src/modules/navigator/rtl.cpp                      | 6 ++++--
 src/modules/navigator/rtl_mission_fast.cpp         | 4 ++--
 src/modules/navigator/rtl_mission_fast.h           | 2 +-
 src/modules/navigator/rtl_mission_fast_reverse.cpp | 4 ++--
 src/modules/navigator/rtl_mission_fast_reverse.h   | 2 +-
 5 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index e34f242d4ada..f27c112aac2c 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -585,6 +585,8 @@ void RTL::init_rtl_mission_type()
 		_set_rtl_mission_type = RtlType::NONE;
 	}
 
+	mission_s new_mission = _mission_sub.get();
+
 	switch (new_rtl_mission_type) {
 	case RtlType::RTL_DIRECT_MISSION_LAND:
 		_rtl_mission_type_handle = new RtlDirectMissionLand(_navigator);
@@ -593,13 +595,13 @@ void RTL::init_rtl_mission_type()
 		break;
 
 	case RtlType::RTL_MISSION_FAST:
-		_rtl_mission_type_handle = new RtlMissionFast(_navigator);
+		_rtl_mission_type_handle = new RtlMissionFast(_navigator, new_mission);
 		_set_rtl_mission_type = RtlType::RTL_MISSION_FAST;
 		_rtl_type = RtlType::RTL_MISSION_FAST;
 		break;
 
 	case RtlType::RTL_MISSION_FAST_REVERSE:
-		_rtl_mission_type_handle = new RtlMissionFastReverse(_navigator);
+		_rtl_mission_type_handle = new RtlMissionFastReverse(_navigator, new_mission);
 		_set_rtl_mission_type = RtlType::RTL_MISSION_FAST_REVERSE;
 		_rtl_type = RtlType::RTL_MISSION_FAST_REVERSE;
 		break;
diff --git a/src/modules/navigator/rtl_mission_fast.cpp b/src/modules/navigator/rtl_mission_fast.cpp
index d3e07a36ddc3..ccfc91cfde65 100644
--- a/src/modules/navigator/rtl_mission_fast.cpp
+++ b/src/modules/navigator/rtl_mission_fast.cpp
@@ -46,10 +46,10 @@
 
 static constexpr int32_t DEFAULT_MISSION_FAST_CACHE_SIZE = 5;
 
-RtlMissionFast::RtlMissionFast(Navigator *navigator) :
+RtlMissionFast::RtlMissionFast(Navigator *navigator, mission_s mission) :
 	RtlBase(navigator, DEFAULT_MISSION_FAST_CACHE_SIZE)
 {
-
+	_mission = mission;
 }
 
 void RtlMissionFast::on_inactive()
diff --git a/src/modules/navigator/rtl_mission_fast.h b/src/modules/navigator/rtl_mission_fast.h
index c782a471bd7a..d1231022b6f1 100644
--- a/src/modules/navigator/rtl_mission_fast.h
+++ b/src/modules/navigator/rtl_mission_fast.h
@@ -52,7 +52,7 @@ class Navigator;
 class RtlMissionFast : public RtlBase
 {
 public:
-	RtlMissionFast(Navigator *navigator);
+	RtlMissionFast(Navigator *navigator, mission_s mission);
 	~RtlMissionFast() = default;
 
 	void on_activation() override;
diff --git a/src/modules/navigator/rtl_mission_fast_reverse.cpp b/src/modules/navigator/rtl_mission_fast_reverse.cpp
index d78f6c7fa627..eb5f3d102246 100644
--- a/src/modules/navigator/rtl_mission_fast_reverse.cpp
+++ b/src/modules/navigator/rtl_mission_fast_reverse.cpp
@@ -46,10 +46,10 @@
 
 static constexpr int32_t DEFAULT_MISSION_FAST_REVERSE_CACHE_SIZE = 5;
 
-RtlMissionFastReverse::RtlMissionFastReverse(Navigator *navigator) :
+RtlMissionFastReverse::RtlMissionFastReverse(Navigator *navigator, mission_s mission) :
 	RtlBase(navigator, -DEFAULT_MISSION_FAST_REVERSE_CACHE_SIZE)
 {
-
+	_mission = mission;
 }
 
 void RtlMissionFastReverse::on_inactive()
diff --git a/src/modules/navigator/rtl_mission_fast_reverse.h b/src/modules/navigator/rtl_mission_fast_reverse.h
index 168d20c2e341..9a30e6d70de5 100644
--- a/src/modules/navigator/rtl_mission_fast_reverse.h
+++ b/src/modules/navigator/rtl_mission_fast_reverse.h
@@ -52,7 +52,7 @@ class Navigator;
 class RtlMissionFastReverse : public RtlBase
 {
 public:
-	RtlMissionFastReverse(Navigator *navigator);
+	RtlMissionFastReverse(Navigator *navigator, mission_s mission);
 	~RtlMissionFastReverse() = default;
 
 	void on_activation() override;