* 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 */