void
NavigatorMode::run(bool active)
{
	if (active) {
		if (!_active) {
			/* first run, reset stay in failsafe flag */
			_navigator->get_mission_result()->stay_in_failsafe = false;
			_navigator->set_mission_result_updated();
			on_activation();

		} else {
			/* periodic updates when active */
			on_active();
		}

	} else {
		/* periodic updates when inactive */
		if (_active) {
			on_inactivation();

		} else {
			on_inactive();
		}
	}

	_active = active;
}