Navigator: Don't try to go to next WP or loiter after landing, just stay in landing mode

1 files changed, 6 insertions, 1 deletions

diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 399985442..8bd786a7b 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -944,11 +944,16 @@ Navigator::reset_mission_item_reached()
 void
 Navigator::check_mission_item_reached()
 {
-	// warnx("checking mission item reached");
+	/* don't check if mission item is already reached */
 	if (_mission_item_reached) {
 		return;
 	}
 
+	/* don't try to reach the landing mission, just stay in that mode */
+	if (_mission_item_triplet.current.nav_cmd == MAV_CMD_NAV_LAND) {
+		return;
+	}
+
 	uint64_t now = hrt_absolute_time();
 	float orbit;