Navigator: Don't switch to RTL if already in landing phase of mission.

src/modules/navigator/mission.cpp

@@ -92,13 +92,21 @@ Mission::on_activation()
 bool
 Mission::isLanding()
 {
+	if (get_land_start_available()) {
+		static constexpr size_t max_num_next_items{1u};
+		int32_t next_mission_items_index[max_num_next_items];
+		size_t num_found_items;
+
+		getNextPositionItems(_mission.land_start_index + 1, next_mission_items_index, num_found_items, max_num_next_items);
+
 		// vehicle is currently landing if
 		//  mission valid, still flying, and in the landing portion of mission (past land start marker)
-	bool on_landing_stage = get_land_start_available() && _mission.current_seq > get_land_start_index();
+		bool on_landing_stage = (num_found_items > 0U) &&  _mission.current_seq > next_mission_items_index[0U];
 
 		// special case: if the land start index is at a LOITER_TO_ALT WP, then we're in the landing sequence already when the
 		// distance to the WP is below the loiter radius + acceptance.
-	if (_mission.current_seq == get_land_start_index() && _mission_item.nav_cmd == NAV_CMD_LOITER_TO_ALT) {
+		if ((num_found_items > 0U) && _mission.current_seq == next_mission_items_index[0U]
+		    && _mission_item.nav_cmd == NAV_CMD_LOITER_TO_ALT) {
 			const float d_current = get_distance_to_next_waypoint(_mission_item.lat, _mission_item.lon,
 						_navigator->get_global_position()->lat, _navigator->get_global_position()->lon);
 
@@ -111,6 +119,10 @@ Mission::isLanding()
 		}
 
 		return _navigator->get_mission_result()->valid && on_landing_stage;
+
+	} else {
+		return false;
+	}
 }
 
 bool

src/modules/navigator/navigator_main.cpp

@@ -717,6 +717,7 @@ void Navigator::run()
 			// If we are already in mission landing, do not switch.
 			if (_navigation_mode == &_mission && _mission.isLanding()) {
 				navigation_mode_new = &_mission;
+				break;
 
 			} else {
 				_pos_sp_triplet_published_invalid_once = false;