From 6364bb85665ac4870e4d4f77cfd0cf2571c43654 Mon Sep 17 00:00:00 2001
From: "U-karat-jdl\\karat" <jdl@abv.bg>
Date: Thu, 29 Nov 2018 12:20:53 +0200
Subject: [PATCH] LP-605 call setWaypoint() on PathPlan resume

---
 flight/modules/PathPlanner/pathplanner.c | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/flight/modules/PathPlanner/pathplanner.c b/flight/modules/PathPlanner/pathplanner.c
index 0faeeafe2..b10bd2f4e 100644
--- a/flight/modules/PathPlanner/pathplanner.c
+++ b/flight/modules/PathPlanner/pathplanner.c
@@ -222,7 +222,8 @@ static void pathPlannerTask()
     }
 
     // the transition from pathplanner to another flightmode back to pathplanner
-    // triggers a reset back to 0 index in the waypoint list
+    // triggers a reset back either to 0 index in the waypoint list,
+    // or to current index in the waypoint list, depending on FlightModeChangeRestartsPathPlan setting
     if (pathplanner_active == false) {
         pathplanner_active = true;
 
@@ -230,8 +231,11 @@ static void pathPlannerTask()
         FlightModeSettingsFlightModeChangeRestartsPathPlanGet(&restart);
         if (restart == FLIGHTMODESETTINGS_FLIGHTMODECHANGERESTARTSPATHPLAN_TRUE) {
             setWaypoint(0);
-            return;
         }
+        else {                                                    
+            setWaypoint(waypointActive.Index);                    
+        }                                                        
+        return;
     }
 
     WaypointInstGet(waypointActive.Index, &waypoint);