// convert mission item to current setpoint
	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
	pos_sp_triplet->current.velocity_valid = false;
	pos_sp_triplet->previous.valid = false;
	mission_apply_limitation(_mission_item);
	mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
	pos_sp_triplet->next.valid = false;

	_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER);

	_navigator->set_position_setpoint_triplet_updated();