Merge branch 'beta' into beta_mavlink2

7 files changed, 152 insertions, 126 deletions

diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp
index 36b75dd58..1cbdf9bf8 100644
--- a/src/modules/commander/accelerometer_calibration.cpp
+++ b/src/modules/commander/accelerometer_calibration.cpp
@@ -311,7 +311,7 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
 				 (double)accel_ref[orient][2]);
 
 		data_collected[orient] = true;
-		tune_neutral();
+		tune_neutral(true);
 	}
 
 	close(sensor_combined_sub);
diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp
index 1809f9688..6039d92a7 100644
--- a/src/modules/commander/airspeed_calibration.cpp
+++ b/src/modules/commander/airspeed_calibration.cpp
@@ -142,7 +142,7 @@ int do_airspeed_calibration(int mavlink_fd)
 		}
 
 		mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name);
-		tune_neutral();
+		tune_neutral(true);
 		close(diff_pres_sub);
 		return OK;
 
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 6d14472f3..d5af63120 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -610,7 +610,6 @@ int commander_thread_main(int argc, char *argv[])
 	/* not yet initialized */
 	commander_initialized = false;
 
-	bool battery_tune_played = false;
 	bool arm_tune_played = false;
 
 	/* set parameters */
@@ -902,11 +901,13 @@ int commander_thread_main(int argc, char *argv[])
 		if (updated) {
 			orb_copy(ORB_ID(safety), safety_sub, &safety);
 
-			// XXX this would be the right approach to do it, but do we *WANT* this?
-			// /* disarm if safety is now on and still armed */
-			// if (safety.safety_switch_available && !safety.safety_off) {
-			// 	(void)arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);
-			// }
+			/* disarm if safety is now on and still armed */
+			if (safety.safety_switch_available && !safety.safety_off && armed.armed) {
+				arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
+				if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed)) {
+					mavlink_log_info(mavlink_fd, "[cmd] DISARMED by safety switch");
+				}
+			}
 		}
 
 		/* update global position estimate */
@@ -1024,14 +1025,12 @@ int commander_thread_main(int argc, char *argv[])
 			mavlink_log_critical(mavlink_fd, "#audio: WARNING: LOW BATTERY");
 			status.battery_warning = VEHICLE_BATTERY_WARNING_LOW;
 			status_changed = true;
-			battery_tune_played = false;
 
 		} else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.1f && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
 			/* critical battery voltage, this is rather an emergency, change state machine */
 			critical_battery_voltage_actions_done = true;
 			mavlink_log_critical(mavlink_fd, "#audio: EMERGENCY: CRITICAL BATTERY");
 			status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL;
-			battery_tune_played = false;
 
 			if (armed.armed) {
 				arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed);
@@ -1105,7 +1104,7 @@ int commander_thread_main(int argc, char *argv[])
 
 				/* mark home position as set */
 				status.condition_home_position_valid = true;
-				tune_positive();
+				tune_positive(true);
 			}
 		}
 
@@ -1200,8 +1199,9 @@ int commander_thread_main(int argc, char *argv[])
 			/* evaluate the main state machine according to mode switches */
 			res = set_main_state_rc(&status);
 
+			/* play tune on mode change only if armed, blink LED always */
 			if (res == TRANSITION_CHANGED) {
-				tune_positive();
+				tune_positive(armed.armed);
 
 			} else if (res == TRANSITION_DENIED) {
 				/* DENIED here indicates bug in the commander */
@@ -1257,7 +1257,7 @@ int commander_thread_main(int argc, char *argv[])
 		/* flight termination in manual mode if assisted switch is on easy position */
 		if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) {
 			if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) {
-				tune_positive();
+				tune_positive(armed.armed);
 			}
 		}
 
@@ -1312,26 +1312,23 @@ int commander_thread_main(int argc, char *argv[])
 		/* play arming and battery warning tunes */
 		if (!arm_tune_played && armed.armed && (!safety.safety_switch_available || (safety.safety_switch_available && safety.safety_off))) {
 			/* play tune when armed */
-			if (tune_arm() == OK)
-				arm_tune_played = true;
-
-		} else if (status.battery_warning == VEHICLE_BATTERY_WARNING_LOW) {
-			/* play tune on battery warning */
-			if (tune_low_bat() == OK)
-				battery_tune_played = true;
+			set_tune(TONE_ARMING_WARNING_TUNE);
+			arm_tune_played = true;
 
 		} else if (status.battery_warning == VEHICLE_BATTERY_WARNING_CRITICAL) {
 			/* play tune on battery critical */
-			if (tune_critical_bat() == OK)
-				battery_tune_played = true;
+			set_tune(TONE_BATTERY_WARNING_FAST_TUNE);
 
-		} else if (battery_tune_played) {
-			tune_stop();
-			battery_tune_played = false;
+		} else if (status.battery_warning == VEHICLE_BATTERY_WARNING_LOW || status.failsafe_state != FAILSAFE_STATE_NORMAL) {
+			/* play tune on battery warning or failsafe */
+			set_tune(TONE_BATTERY_WARNING_SLOW_TUNE);
+
+		} else {
+			set_tune(TONE_STOP_TUNE);
 		}
 
 		/* reset arm_tune_played when disarmed */
-		if (status.arming_state != ARMING_STATE_ARMED || (safety.safety_switch_available && !safety.safety_off)) {
+		if (!armed.armed || (safety.safety_switch_available && !safety.safety_off)) {
 			arm_tune_played = false;
 		}
 
@@ -1426,11 +1423,8 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a
 
 		if (set_normal_color) {
 			/* set color */
-			if (status->battery_warning != VEHICLE_BATTERY_WARNING_NONE) {
-				if (status->battery_warning == VEHICLE_BATTERY_WARNING_LOW) {
-					rgbled_set_color(RGBLED_COLOR_AMBER);
-				}
-
+			if (status->battery_warning == VEHICLE_BATTERY_WARNING_LOW || status->failsafe_state != FAILSAFE_STATE_NORMAL) {
+				rgbled_set_color(RGBLED_COLOR_AMBER);
 				/* VEHICLE_BATTERY_WARNING_CRITICAL handled as ARMING_STATE_ARMED_ERROR / ARMING_STATE_STANDBY_ERROR */
 
 			} else {
@@ -1697,15 +1691,9 @@ print_reject_mode(struct vehicle_status_s *status, const char *msg)
 		sprintf(s, "#audio: REJECT %s", msg);
 		mavlink_log_critical(mavlink_fd, s);
 
-		// only buzz if armed, because else we're driving people nuts indoors
-		// they really need to look at the leds as well.
-		if (status->arming_state == ARMING_STATE_ARMED) {
-			tune_negative();
-		} else {
-
-			// Always show the led indication
-			led_negative();
-		}
+		/* only buzz if armed, because else we're driving people nuts indoors
+		they really need to look at the leds as well. */
+		tune_negative(armed.armed);
 	}
 }
 
@@ -1719,7 +1707,7 @@ print_reject_arm(const char *msg)
 		char s[80];
 		sprintf(s, "#audio: %s", msg);
 		mavlink_log_critical(mavlink_fd, s);
-		tune_negative();
+		tune_negative(true);
 	}
 }
 
@@ -1727,27 +1715,27 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul
 {
 	switch (result) {
 	case VEHICLE_CMD_RESULT_ACCEPTED:
-			tune_positive();
+			tune_positive(true);
 		break;
 
 	case VEHICLE_CMD_RESULT_DENIED:
 		mavlink_log_critical(mavlink_fd, "#audio: command denied: %u", cmd.command);
-		tune_negative();
+		tune_negative(true);
 		break;
 
 	case VEHICLE_CMD_RESULT_FAILED:
 		mavlink_log_critical(mavlink_fd, "#audio: command failed: %u", cmd.command);
-		tune_negative();
+		tune_negative(true);
 		break;
 
 	case VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
 		mavlink_log_critical(mavlink_fd, "#audio: command temporarily rejected: %u", cmd.command);
-		tune_negative();
+		tune_negative(true);
 		break;
 
 	case VEHICLE_CMD_RESULT_UNSUPPORTED:
 		mavlink_log_critical(mavlink_fd, "#audio: command unsupported: %u", cmd.command);
-		tune_negative();
+		tune_negative(true);
 		break;
 
 	default:
@@ -1887,9 +1875,9 @@ void *commander_low_prio_loop(void *arg)
 				}
 
 				if (calib_ret == OK)
-					tune_positive();
+					tune_positive(true);
 				else
-					tune_negative();
+					tune_negative(true);
 
 				arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);
 
diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp
index 033e7dc88..fe6c9bfaa 100644
--- a/src/modules/commander/commander_helper.cpp
+++ b/src/modules/commander/commander_helper.cpp
@@ -45,6 +45,7 @@
 #include <stdbool.h>
 #include <fcntl.h>
 #include <math.h>
+#include <string.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
@@ -81,11 +82,22 @@ bool is_rotary_wing(const struct vehicle_status_s *current_status)
 	       || (current_status->system_type == VEHICLE_TYPE_COAXIAL);
 }
 
-static int buzzer;
-static hrt_abstime blink_msg_end;
+static int buzzer = -1;
+static hrt_abstime blink_msg_end = 0;	// end time for currently blinking LED message, 0 if no blink message
+static hrt_abstime tune_end = 0;		// end time of currently played tune, 0 for repeating tunes or silence
+static int tune_current = TONE_STOP_TUNE;		// currently playing tune, can be interrupted after tune_end
+static unsigned int tune_durations[TONE_NUMBER_OF_TUNES];
 
 int buzzer_init()
 {
+	tune_end = 0;
+	tune_current = 0;
+	memset(tune_durations, 0, sizeof(tune_durations));
+	tune_durations[TONE_NOTIFY_POSITIVE_TUNE] = 800000;
+	tune_durations[TONE_NOTIFY_NEGATIVE_TUNE] = 900000;
+	tune_durations[TONE_NOTIFY_NEUTRAL_TUNE] = 500000;
+	tune_durations[TONE_ARMING_WARNING_TUNE] = 3000000;
+
 	buzzer = open(TONEALARM_DEVICE_PATH, O_WRONLY);
 
 	if (buzzer < 0) {
@@ -101,58 +113,60 @@ void buzzer_deinit()
 	close(buzzer);
 }
 
-void tune_error()
-{
-	ioctl(buzzer, TONE_SET_ALARM, TONE_ERROR_TUNE);
+void set_tune(int tune) {
+	unsigned int new_tune_duration = tune_durations[tune];
+	/* don't interrupt currently playing non-repeating tune by repeating */
+	if (tune_end == 0 || new_tune_duration != 0 || hrt_absolute_time() > tune_end) {
+		/* allow interrupting current non-repeating tune by the same tune */
+		if (tune != tune_current || new_tune_duration != 0) {
+			ioctl(buzzer, TONE_SET_ALARM, tune);
+		}
+		tune_current = tune;
+		if (new_tune_duration != 0) {
+			tune_end = hrt_absolute_time() + new_tune_duration;
+		} else {
+			tune_end = 0;
+		}
+	}
 }
 
-void tune_positive()
+/**
+ * Blink green LED and play positive tune (if use_buzzer == true).
+ */
+void tune_positive(bool use_buzzer)
 {
 	blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
 	rgbled_set_color(RGBLED_COLOR_GREEN);
 	rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
-	ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_POSITIVE_TUNE);
+	if (use_buzzer) {
+		set_tune(TONE_NOTIFY_POSITIVE_TUNE);
+	}
 }
 
-void tune_neutral()
+/**
+ * Blink white LED and play neutral tune (if use_buzzer == true).
+ */
+void tune_neutral(bool use_buzzer)
 {
 	blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
 	rgbled_set_color(RGBLED_COLOR_WHITE);
 	rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
-	ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEUTRAL_TUNE);
-}
-
-void tune_negative()
-{
-	led_negative();
-	ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEGATIVE_TUNE);
+	if (use_buzzer) {
+		set_tune(TONE_NOTIFY_NEUTRAL_TUNE);
+	}
 }
 
-void led_negative()
+/**
+ * Blink red LED and play negative tune (if use_buzzer == true).
+ */
+void tune_negative(bool use_buzzer)
 {
 	blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
 	rgbled_set_color(RGBLED_COLOR_RED);
 	rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
-}
-
-int tune_arm()
-{
-	return ioctl(buzzer, TONE_SET_ALARM, TONE_ARMING_WARNING_TUNE);
-}
-
-int tune_low_bat()
-{
-	return ioctl(buzzer, TONE_SET_ALARM, TONE_BATTERY_WARNING_SLOW_TUNE);
-}
-
-int tune_critical_bat()
-{
-	return ioctl(buzzer, TONE_SET_ALARM, TONE_BATTERY_WARNING_FAST_TUNE);
-}
-
-void tune_stop()
-{
-	ioctl(buzzer, TONE_SET_ALARM, TONE_STOP_TUNE);
+	if (use_buzzer) {
+		set_tune(TONE_NOTIFY_NEGATIVE_TUNE);
+	}
 }
 
 int blink_msg_state()
@@ -161,6 +175,7 @@ int blink_msg_state()
 		return 0;
 
 	} else if (hrt_absolute_time() > blink_msg_end) {
+		blink_msg_end = 0;
 		return 2;
 
 	} else {
@@ -168,8 +183,8 @@ int blink_msg_state()
 	}
 }
 
-static int leds;
-static int rgbleds;
+static int leds = -1;
+static int rgbleds = -1;
 
 int led_init()
 {
diff --git a/src/modules/commander/commander_helper.h b/src/modules/commander/commander_helper.h
index af25a5e97..e75f2592f 100644
--- a/src/modules/commander/commander_helper.h
+++ b/src/modules/commander/commander_helper.h
@@ -54,16 +54,10 @@ bool is_rotary_wing(const struct vehicle_status_s *current_status);
 int buzzer_init(void);
 void buzzer_deinit(void);
 
-void tune_error(void);
-void tune_positive(void);
-void tune_neutral(void);
-void tune_negative(void);
-int tune_arm(void);
-int tune_low_bat(void);
-int tune_critical_bat(void);
-void tune_stop(void);
-
-void led_negative();
+void set_tune(int tune);
+void tune_positive(bool use_buzzer);
+void tune_neutral(bool use_buzzer);
+void tune_negative(bool use_buzzer);
 
 int blink_msg_state();
 
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index b4bac53d6..78d06ba5b 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -791,7 +791,6 @@ MulticopterPositionControl::task_main()
 							}
 
 							thrust_int(2) = -i;
-							mavlink_log_info(_mavlink_fd, "[mpc] reset hovering thrust: %.2f", (double)i);
 						}
 
 					} else {
@@ -803,7 +802,6 @@ MulticopterPositionControl::task_main()
 							reset_int_xy = false;
 							thrust_int(0) = 0.0f;
 							thrust_int(1) = 0.0f;
-							mavlink_log_info(_mavlink_fd, "[mpc] reset xy vel integral");
 						}
 
 					} else {
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 4d135a0ef..ff1932c66 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -321,6 +321,11 @@ private:
 	bool		onboard_mission_available(unsigned relative_index);
 
 	/**
+	 * Reset all "reached" flags.
+	 */
+	void		reset_reached();
+
+	/**
 	 * Check if current mission item has been reached.
 	 */
 	bool		check_mission_item_reached();
@@ -695,7 +700,7 @@ Navigator::task_main()
 					if (_vstatus.return_switch == RETURN_SWITCH_RETURN) {
 						/* switch to RTL if not already landed after RTL and home position set */
 						if (!(_rtl_state == RTL_STATE_DESCEND &&
-						      (myState == NAV_STATE_READY || myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
+						      (myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
 						    _vstatus.condition_home_position_valid) {
 							dispatch(EVENT_RTL_REQUESTED);
 						}
@@ -741,7 +746,7 @@ Navigator::task_main()
 
 						case NAV_STATE_RTL:
 							if (!(_rtl_state == RTL_STATE_DESCEND &&
-							      (myState == NAV_STATE_READY || myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
+							      (myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
 							    _vstatus.condition_home_position_valid) {
 								dispatch(EVENT_RTL_REQUESTED);
 							}
@@ -749,9 +754,7 @@ Navigator::task_main()
 							break;
 
 						case NAV_STATE_LAND:
-							if (myState != NAV_STATE_READY) {
-								dispatch(EVENT_LAND_REQUESTED);
-							}
+							dispatch(EVENT_LAND_REQUESTED);
 
 							break;
 
@@ -855,9 +858,6 @@ Navigator::task_main()
 		if (myState != prevState) {
 			mavlink_log_info(_mavlink_fd, "#audio: navigation state: %s", nav_states_str[myState]);
 			prevState = myState;
-
-			/* reset time counter on state changes */
-			_time_first_inside_orbit = 0;
 		}
 
 		perf_end(_loop_perf);
@@ -955,7 +955,7 @@ StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = {
 		/* EVENT_READY_REQUESTED */		{NO_ACTION, NAV_STATE_READY},
 		/* EVENT_LOITER_REQUESTED */		{NO_ACTION, NAV_STATE_READY},
 		/* EVENT_MISSION_REQUESTED */		{ACTION(&Navigator::start_mission), NAV_STATE_MISSION},
-		/* EVENT_RTL_REQUESTED */		{ACTION(&Navigator::start_rtl), NAV_STATE_RTL},
+		/* EVENT_RTL_REQUESTED */		{NO_ACTION, NAV_STATE_READY},
 		/* EVENT_LAND_REQUESTED */		{NO_ACTION, NAV_STATE_READY},
 		/* EVENT_MISSION_CHANGED */		{NO_ACTION, NAV_STATE_READY},
 		/* EVENT_HOME_POSITION_CHANGED */	{NO_ACTION, NAV_STATE_READY},
@@ -1009,6 +1009,8 @@ StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = {
 void
 Navigator::start_none()
 {
+	reset_reached();
+
 	_pos_sp_triplet.previous.valid = false;
 	_pos_sp_triplet.current.valid = false;
 	_pos_sp_triplet.next.valid = false;
@@ -1024,6 +1026,8 @@ Navigator::start_none()
 void
 Navigator::start_ready()
 {
+	reset_reached();
+
 	_pos_sp_triplet.previous.valid = false;
 	_pos_sp_triplet.current.valid = true;
 	_pos_sp_triplet.next.valid = false;
@@ -1046,6 +1050,8 @@ Navigator::start_ready()
 void
 Navigator::start_loiter()
 {
+	reset_reached();
+
 	_do_takeoff = false;
 
 	/* set loiter position if needed */
@@ -1091,6 +1097,8 @@ Navigator::start_mission()
 void
 Navigator::set_mission_item()
 {
+	reset_reached();
+
 	/* copy current mission to previous item */
 	memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s));
 
@@ -1104,12 +1112,6 @@ Navigator::set_mission_item()
 	ret = _mission.get_current_mission_item(&_mission_item, &onboard, &index);
 
 	if (ret == OK) {
-
-		_mission.report_current_offboard_mission_item();
-
-		/* reset time counter for new item */
-		_time_first_inside_orbit = 0;
-
 		_mission_item_valid = true;
 		position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item);
 
@@ -1227,6 +1229,8 @@ Navigator::start_rtl()
 void
 Navigator::start_land()
 {
+	reset_reached();
+
 	/* this state can be requested by commander even if no global position available,
 	 * in his case controller must perform landing without position control */
 	_do_takeoff = false;
@@ -1258,6 +1262,8 @@ Navigator::start_land()
 void
 Navigator::start_land_home()
 {
+	reset_reached();
+
 	/* land to home position, should be called when hovering above home, from RTL state */
 	_do_takeoff = false;
 	_reset_loiter_pos = true;
@@ -1288,8 +1294,7 @@ Navigator::start_land_home()
 void
 Navigator::set_rtl_item()
 {
-	/*reset time counter for new RTL item */
-	_time_first_inside_orbit = 0;
+	reset_reached();
 
 	switch (_rtl_state) {
 	case RTL_STATE_CLIMB: {
@@ -1333,7 +1338,14 @@ Navigator::set_rtl_item()
 			_mission_item.lat = _home_pos.lat;
 			_mission_item.lon = _home_pos.lon;
 			// don't change altitude
-			_mission_item.yaw = NAN;	// TODO set heading to home
+			if (_pos_sp_triplet.previous.valid) {
+				/* if previous setpoint is valid then use it to calculate heading to home */
+				_mission_item.yaw = get_bearing_to_next_waypoint(_pos_sp_triplet.previous.lat, _pos_sp_triplet.previous.lon, _mission_item.lat, _mission_item.lon);
+
+			} else {
+				/* else use current position */
+				_mission_item.yaw = get_bearing_to_next_waypoint(_global_pos.lat, _global_pos.lon, _mission_item.lat, _mission_item.lon);
+			}
 			_mission_item.loiter_radius = _parameters.loiter_radius;
 			_mission_item.loiter_direction = 1;
 			_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
@@ -1391,7 +1403,8 @@ Navigator::set_rtl_item()
 void
 Navigator::request_loiter_or_ready()
 {
-	if (_vstatus.condition_landed) {
+	/* XXX workaround: no landing detector for fixedwing yet */
+	if (_vstatus.condition_landed && _vstatus.is_rotary_wing) {
 		dispatch(EVENT_READY_REQUESTED);
 
 	} else {
@@ -1421,17 +1434,28 @@ Navigator::position_setpoint_from_mission_item(position_setpoint_s *sp, mission_
 		sp->lon = _home_pos.lon;
 		sp->alt = _home_pos.alt + _parameters.rtl_alt;
 
+		if (_pos_sp_triplet.previous.valid) {
+			/* if previous setpoint is valid then use it to calculate heading to home */
+			sp->yaw = get_bearing_to_next_waypoint(_pos_sp_triplet.previous.lat, _pos_sp_triplet.previous.lon, sp->lat, sp->lon);
+
+		} else {
+			/* else use current position */
+			sp->yaw = get_bearing_to_next_waypoint(_global_pos.lat, _global_pos.lon, sp->lat, sp->lon);
+		}
+		sp->loiter_radius = _parameters.loiter_radius;
+		sp->loiter_direction = 1;
+		sp->pitch_min = 0.0f;
+
 	} else {
 		sp->lat = item->lat;
 		sp->lon = item->lon;
 		sp->alt = item->altitude_is_relative ? item->altitude + _home_pos.alt : item->altitude;
+		sp->yaw = item->yaw;
+		sp->loiter_radius = item->loiter_radius;
+		sp->loiter_direction = item->loiter_direction;
+		sp->pitch_min = item->pitch_min;
 	}
 
-	sp->yaw = item->yaw;
-	sp->loiter_radius = item->loiter_radius;
-	sp->loiter_direction = item->loiter_direction;
-	sp->pitch_min = item->pitch_min;
-
 	if (item->nav_cmd == NAV_CMD_TAKEOFF) {
 		sp->type = SETPOINT_TYPE_TAKEOFF;
 
@@ -1508,7 +1532,7 @@ Navigator::check_mission_item_reached()
 		}
 	}
 
-	if (!_waypoint_yaw_reached) {
+	if (_waypoint_position_reached && !_waypoint_yaw_reached) {
 		if (_vstatus.is_rotary_wing && !_do_takeoff && isfinite(_mission_item.yaw)) {
 			/* check yaw if defined only for rotary wing except takeoff */
 			float yaw_err = _wrap_pi(_mission_item.yaw - _global_pos.yaw);
@@ -1535,9 +1559,7 @@ Navigator::check_mission_item_reached()
 		/* check if the MAV was long enough inside the waypoint orbit */
 		if ((now - _time_first_inside_orbit >= (uint64_t)_mission_item.time_inside * 1e6)
 		    || _mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
-			_time_first_inside_orbit = 0;
-			_waypoint_yaw_reached = false;
-			_waypoint_position_reached = false;
+			reset_reached();
 			return true;
 		}
 	}
@@ -1547,6 +1569,15 @@ Navigator::check_mission_item_reached()
 }
 
 void
+Navigator::reset_reached()
+{
+	_time_first_inside_orbit = 0;
+	_waypoint_position_reached = false;
+	_waypoint_yaw_reached = false;
+
+}
+
+void
 Navigator::on_mission_item_reached()
 {
 	if (myState == NAV_STATE_MISSION) {