reset current setpoint when entering RTL

src/modules/navigator/mission_block.cpp

@@ -503,6 +503,24 @@ MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_locatio
 	item->origin = ORIGIN_ONBOARD;
 }
 
+void
+MissionBlock::set_current_position_item(struct mission_item_s *item)
+{
+	item->nav_cmd = NAV_CMD_WAYPOINT;
+	item->lat = _navigator->get_global_position()->lat;
+	item->lon = _navigator->get_global_position()->lon;
+	item->altitude_is_relative = false;
+	item->altitude = _navigator->get_global_position()->alt;
+	item->yaw = NAN;
+	item->loiter_radius = _navigator->get_loiter_radius();
+	item->loiter_direction = 1;
+	item->acceptance_radius = _navigator->get_acceptance_radius();
+	item->time_inside = 0.0f;
+	item->pitch_min = 0.0f;
+	item->autocontinue = true;
+	item->origin = ORIGIN_ONBOARD;
+}
+
 void
 MissionBlock::set_idle_item(struct mission_item_s *item)
 {

src/modules/navigator/mission_block.h

@@ -108,6 +108,8 @@ class MissionBlock : public NavigatorMode
 	 */
 	void set_land_item(struct mission_item_s *item, bool at_current_location);
 
+	void set_current_position_item(struct mission_item_s *item);
+
 	/**
 	 * Set idle mission item
 	 */

src/modules/navigator/rtl.cpp

@@ -85,6 +85,12 @@ RTL::on_inactive()
 void
 RTL::on_activation()
 {
+	/* reset starting point so we override what the triplet contained from the previous navigation state */
+	_rtl_start_lock = false;
+	set_current_position_item(&_mission_item);
+	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+	mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
+
 	/* decide where to enter the RTL procedure when we switch into it */
 	if (_rtl_state == RTL_STATE_NONE) {
 		/* for safety reasons don't go into RTL if landed */
@@ -96,15 +102,13 @@ RTL::on_activation()
 		} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
 			   + _param_return_alt.get()) {
 			_rtl_state = RTL_STATE_CLIMB;
-			_rtl_start_lock = false;
 
 		/* otherwise go straight to return */
 		} else {
 			/* set altitude setpoint to current altitude */
 			_rtl_state = RTL_STATE_RETURN;
 			_mission_item.altitude_is_relative = false;
 			_mission_item.altitude = _navigator->get_global_position()->alt;
-			_rtl_start_lock = false;
 		}
 
 	}