Lap Race Condition

[AskewParity]

🐛 Bug

To Reproduce

Steps to reproduce the behavior:

To do this synthetically (SITl), we will have to change the code.

1. After the first completed waypoint mission, don't upload a new waypoint mission.
2. The code will transition to fly_search, which is incorrect as it only finished one lap.

Expected behavior

The correct behavior is that the code should be in fly_waypoints until the number of laps finishes

Additional context

There is a race condition between mav upload and the tick itself. If the tick reloads (on the order of 100 ms) before the mav upload completes, and the mav status is still marked as complete, then another lap will be subtracted.