fix rasta condition

[aversive.git] / modules / devices / robot / trajectory_manager / trajectory_manager_core.c

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
index e4f2df6..e3311a9 100644 (file)
--- a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
@@ -318,8 +318,12 @@ uint8_t trajectory_distance_finished(struct trajectory *traj)
  * distance. */
 uint8_t trajectory_finished(struct trajectory *traj)
 {
-       return trajectory_angle_finished(traj) &&
+       uint8_t flags, ret;
+       IRQ_LOCK(flags);
+       ret = trajectory_angle_finished(traj) &&
                trajectory_distance_finished(traj);
+       IRQ_UNLOCK(flags);
+       return ret;
 }
 
 /** return true if traj is nearly finished */