From f6858c59e8922b3a063985e7be67f64988eb7a9b Mon Sep 17 00:00:00 2001
From: Luiz Georg <luizgngeorg@gmail.com>
Date: Mon, 25 Jul 2022 18:58:45 -0300
Subject: [PATCH] AP_Arming: add check for RTL

---
 libraries/AP_Arming/AP_Arming.cpp | 5 +++--
 libraries/AP_Arming/AP_Arming.h   | 1 +
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index cae5eaef0b..cfd4dc08c4 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -124,7 +124,7 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
     // @Param: MIS_ITEMS
     // @DisplayName: Required mission items
     // @Description: Bitmask of mission items that are required to be planned in order to arm the aircraft
-    // @Bitmask: 0:Land,1:VTOL Land,2:DO_LAND_START,3:Takeoff,4:VTOL Takeoff,5:Rallypoint
+    // @Bitmask: 0:Land,1:VTOL Land,2:DO_LAND_START,3:Takeoff,4:VTOL Takeoff,5:Rallypoint,6:RTL
     // @User: Advanced
     AP_GROUPINFO("MIS_ITEMS",    7,     AP_Arming, _required_mission_items, 0),
 
@@ -797,12 +797,13 @@ bool AP_Arming::mission_checks(bool report)
           MIS_ITEM_CHECK check;
           MAV_CMD mis_item_type;
           const char *type;
-        } misChecks[5] = {
+        } misChecks[] = {
           {MIS_ITEM_CHECK_LAND,          MAV_CMD_NAV_LAND,           "land"},
           {MIS_ITEM_CHECK_VTOL_LAND,     MAV_CMD_NAV_VTOL_LAND,      "vtol land"},
           {MIS_ITEM_CHECK_DO_LAND_START, MAV_CMD_DO_LAND_START,      "do land start"},
           {MIS_ITEM_CHECK_TAKEOFF,       MAV_CMD_NAV_TAKEOFF,        "takeoff"},
           {MIS_ITEM_CHECK_VTOL_TAKEOFF,  MAV_CMD_NAV_VTOL_TAKEOFF,   "vtol takeoff"},
+          {MIS_ITEM_CHECK_RETURN_TO_LAUNCH,  MAV_CMD_NAV_RETURN_TO_LAUNCH,   "RTL"},
         };
         for (uint8_t i = 0; i < ARRAY_SIZE(misChecks); i++) {
             if (_required_mission_items & misChecks[i].check) {
diff --git a/libraries/AP_Arming/AP_Arming.h b/libraries/AP_Arming/AP_Arming.h
index b32543d52b..66d303be40 100644
--- a/libraries/AP_Arming/AP_Arming.h
+++ b/libraries/AP_Arming/AP_Arming.h
@@ -245,6 +245,7 @@ private:
         MIS_ITEM_CHECK_TAKEOFF       = (1 << 3),
         MIS_ITEM_CHECK_VTOL_TAKEOFF  = (1 << 4),
         MIS_ITEM_CHECK_RALLY         = (1 << 5),
+        MIS_ITEM_CHECK_RETURN_TO_LAUNCH = (1 << 6),
         MIS_ITEM_CHECK_MAX
     };