From ebd64bfab60231dcc8350da9630be006469a9086 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Thu, 15 Jun 2023 15:10:06 +0200
Subject: [PATCH] navigator: defer saving mission until disarmed

Avoids unnecessary dataman accesses
---
 src/modules/navigator/mission.cpp | 11 +++++++++++
 src/modules/navigator/mission.h   |  1 +
 2 files changed, 12 insertions(+)

diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index dd2d85ed88..5465c65053 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -122,6 +122,10 @@ Mission::on_inactive()
 		return;
 	}
 
+	if (_need_mission_save && _navigator->get_vstatus()->arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
+		save_mission_state();
+	}
+
 	if (_inited) {
 		if (_mission_sub.updated()) {
 			update_mission();
@@ -1752,6 +1756,13 @@ Mission::read_mission_item(int offset, struct mission_item_s *mission_item)
 void
 Mission::save_mission_state()
 {
+	if (_navigator->get_vstatus()->arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
+		// Save only while disarmed, as this is a blocking operation
+		_need_mission_save = true;
+		return;
+	}
+
+	_need_mission_save = false;
 	mission_s mission_state = {};
 
 	/* read current state */
diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h
index be53a52ca3..be6b217cb5 100644
--- a/src/modules/navigator/mission.h
+++ b/src/modules/navigator/mission.h
@@ -348,6 +348,7 @@ private:
 	bool _inited{false};
 	bool _home_inited{false};
 	bool _need_mission_reset{false};
+	bool _need_mission_save{false};
 	bool _mission_waypoints_changed{false};
 	bool _mission_changed{false}; /** < true if the mission changed since the mission mode was active */