From b78b063fd8e8cf56bbbe613031bbb0ad853bf4b1 Mon Sep 17 00:00:00 2001
From: chfriedrich98 <chfriedrich@student.ethz.ch>
Date: Wed, 12 Mar 2025 09:03:45 +0100
Subject: [PATCH] rover: skip to LAND on direct RTL activation

---
 src/modules/navigator/rtl_direct.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/src/modules/navigator/rtl_direct.cpp b/src/modules/navigator/rtl_direct.cpp
index 88f4da2249..cb3aaba25c 100644
--- a/src/modules/navigator/rtl_direct.cpp
+++ b/src/modules/navigator/rtl_direct.cpp
@@ -77,7 +77,12 @@ void RtlDirect::on_activation()
 
 	parameters_update();
 
-	_rtl_state = getActivationLandState();
+	if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER) {
+		_rtl_state = RTLState::LAND;
+
+	} else {
+		_rtl_state = getActivationLandState();
+	}
 
 	// reset cruising speed and throttle to default for RTL
 	_navigator->reset_cruising_speed();