From 4144a53cd665744160a7575e08a8b99497c3c1cc Mon Sep 17 00:00:00 2001 From: Jake Dahl Date: Wed, 25 Jul 2018 17:44:30 -0600 Subject: [PATCH] added a check to ensure the current position setpoint is valid --- src/modules/navigator/rtl.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index 663d40b807..682afc6bbf 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -69,7 +69,8 @@ RTL::on_activation() // For safety reasons don't go into RTL if landed. _rtl_state = RTL_STATE_LANDED; - } else if (_navigator->get_position_setpoint_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND) { + } else if (_navigator->get_position_setpoint_triplet()->current.valid + && _navigator->get_position_setpoint_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND) { // Skip straight to land if already performing a land. _rtl_state = RTL_STATE_LAND;