Copter: auto RTL: don't switch modes if already in auto

Icatme · Aug 30, 2021 · 09f1a3d · 09f1a3d
1 parent d31f3eb
commit 09f1a3d
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
@@ -166,7 +166,8 @@ bool ModeAuto::jump_to_landing_sequence_auto_RTL(ModeReason reason)
 {
     if (mission.jump_to_landing_sequence()) {
         mission.set_force_resume(true);
-        if (set_mode(Mode::Number::AUTO, reason)) {
+        // if not already in auto switch to auto
+        if ((copter.flightmode == &copter.mode_auto) || set_mode(Mode::Number::AUTO, reason)) {
             auto_RTL = true;
             return true;
         }