Merge pull request iNavFlight#10273 from b14ckyy/master

Thoroughly tested in HITL and more mission tests in real flight will be executed over the next weeks.

src/main/navigation/navigation.c

@@ -3703,7 +3703,8 @@ void setWaypoint(uint8_t wpNumber, const navWaypoint_t * wpData)
         setDesiredPosition(&wpPos.pos, DEGREES_TO_CENTIDEGREES(wpData->p1), waypointUpdateFlags);
     }
     // WP #1 - #NAV_MAX_WAYPOINTS - common waypoints - pre-programmed mission
-    else if ((wpNumber >= 1) && (wpNumber <= NAV_MAX_WAYPOINTS) && !ARMING_FLAG(ARMED)) {
+    else if ((wpNumber >= 1) && (wpNumber <= NAV_MAX_WAYPOINTS) && !FLIGHT_MODE(NAV_WP_MODE)) { 
+        // WP upload is not allowed why WP mode is active
         if (wpData->action == NAV_WP_ACTION_WAYPOINT || wpData->action == NAV_WP_ACTION_JUMP || wpData->action == NAV_WP_ACTION_RTH || wpData->action == NAV_WP_ACTION_HOLD_TIME || wpData->action == NAV_WP_ACTION_LAND || wpData->action == NAV_WP_ACTION_SET_POI || wpData->action == NAV_WP_ACTION_SET_HEAD ) {
             // Only allow upload next waypoint (continue upload mission) or first waypoint (new mission)
             static int8_t nonGeoWaypointCount = 0;
@@ -3725,6 +3726,10 @@ void setWaypoint(uint8_t wpNumber, const navWaypoint_t * wpData)
                 posControl.geoWaypointCount = posControl.waypointCount - nonGeoWaypointCount;
                 if (posControl.waypointListValid) {
                     nonGeoWaypointCount = 0;
+                    // If active WP index is bigger than total mission WP number, reset active WP index (Mission Upload mid flight with interrupted mission) if RESUME is enabled
+                    if (posControl.activeWaypointIndex > posControl.waypointCount) {
+                        posControl.activeWaypointIndex = 0;
+                    }
                 }
             }
         }