navigator: reset vehicle_roi on mission update

src/modules/navigator/mission.cpp

@@ -448,6 +448,11 @@ Mission::update_mission()
 	/* reset triplets */
 	_navigator->reset_triplets();
 
+	/* Reset vehicle_roi
+	 * Missions that do not explicitly configure ROI would not override
+	 * an existing ROI setting from previous missions */
+	_navigator->reset_vroi();
+
 	struct mission_s old_mission = _mission;
 
 	if (orb_copy(ORB_ID(mission), _navigator->get_mission_sub(), &_mission) == OK) {

src/modules/navigator/navigator.h

@@ -159,6 +159,7 @@ public:
 	PrecLand *get_precland() { return &_precland; } /**< allow others, e.g. Mission, to use the precision land block */
 
 	const vehicle_roi_s &get_vroi() { return _vroi; }
+	void reset_vroi() { _vroi = {}; }
 
 	bool home_alt_valid() { return (_home_pos.timestamp > 0 && _home_pos.valid_alt); }
 	bool home_position_valid() { return (_home_pos.timestamp > 0 && _home_pos.valid_alt && _home_pos.valid_hpos); }