From 4000180cc952f9ac4b09e062fb3df5000874b9eb Mon Sep 17 00:00:00 2001 From: Matthew Berk <8104397+msberk@users.noreply.github.com> Date: Mon, 22 Sep 2025 17:35:06 -0500 Subject: [PATCH] Fix position setpoint update logic in Mission RTL Currently, when proceeding to the landing point the previous setpoint is not updated, which results in an unexpected and off course landing pattern in fixed wing. (see #25436) --- src/modules/navigator/rtl_direct_mission_land.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/rtl_direct_mission_land.cpp b/src/modules/navigator/rtl_direct_mission_land.cpp index 7e8b3d4aa4..adc681bf2a 100644 --- a/src/modules/navigator/rtl_direct_mission_land.cpp +++ b/src/modules/navigator/rtl_direct_mission_land.cpp @@ -203,10 +203,10 @@ void RtlDirectMissionLand::setActiveMissionItems() _mission_item.autocontinue = true; _mission_item.time_inside = 0.0f; - - pos_sp_triplet->previous = pos_sp_triplet->current; } + pos_sp_triplet->previous = pos_sp_triplet->current; + if (num_found_items > 0) { mission_item_to_position_setpoint(next_mission_items[0u], &pos_sp_triplet->next); }