From a989e796638256caf5acba403760673384a24d64 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Tue, 26 Nov 2013 15:25:27 +0100
Subject: [PATCH] Navigator: Don't try to go to next WP or loiter after
 landing, just stay in landing mode

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

diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 399985442b..8bd786a7be 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -944,11 +944,16 @@ Navigator::reset_mission_item_reached()
 void
 Navigator::check_mission_item_reached()
 {
-	// warnx("checking mission item reached");
+	/* don't check if mission item is already reached */
 	if (_mission_item_reached) {
 		return;
 	}
 
+	/* don't try to reach the landing mission, just stay in that mode */
+	if (_mission_item_triplet.current.nav_cmd == MAV_CMD_NAV_LAND) {
+		return;
+	}
+
 	uint64_t now = hrt_absolute_time();
 	float orbit;