diff options
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 3ef2009c7..e0d5df5f7 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -688,7 +688,8 @@ Navigator::task_main() /* RETURN switch, overrides MISSION switch */ 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)) && + if (!(_rtl_state == RTL_STATE_DESCEND && + (myState == NAV_STATE_READY || myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) && _vstatus.condition_home_position_valid) { dispatch(EVENT_RTL_REQUESTED); } @@ -746,7 +747,8 @@ Navigator::task_main() break; case NAV_STATE_RTL: - if (!(_rtl_state == RTL_STATE_DESCEND && (myState == NAV_STATE_READY || myState == NAV_STATE_LAND)) && + if (!(_rtl_state == RTL_STATE_DESCEND && + (myState == NAV_STATE_READY || myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) && _vstatus.condition_home_position_valid) { dispatch(EVENT_RTL_REQUESTED); } |