From 09f1a3da8a79efd07df9399c14166dfa48835f17 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 25 Aug 2021 23:24:25 +0100
Subject: [PATCH] Copter: auto RTL: don't switch modes if already in auto

---
 ArduCopter/mode_auto.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index 4d0a158b35f4e..dc6af3d3a3dde 100644
--- 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;
         }