commander NAV_RETURN_TO_LAUNCH change mode to RTL

src/modules/commander/commander.cpp

@@ -1048,6 +1048,18 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 		}
 		break;
 
+	case vehicle_command_s::VEHICLE_CMD_NAV_RETURN_TO_LAUNCH: {
+			if (TRANSITION_CHANGED == main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_RTL, main_state_prev, &status_flags, &internal_state)) {
+				mavlink_and_console_log_info(&mavlink_log_pub, "Returning to launch");
+				cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
+
+			} else {
+				mavlink_log_critical(&mavlink_log_pub, "Return to launch denied");
+				cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
+			}
+		}
+		break;
+
 	case vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF: {
 			/* ok, home set, use it to take off */
 			if (TRANSITION_CHANGED == main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_TAKEOFF, main_state_prev, &status_flags, &internal_state)) {
@@ -1058,7 +1070,6 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 				mavlink_log_critical(&mavlink_log_pub, "Takeoff denied, disarm and re-try");
 				cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
 			}
-
 		}
 		break;
 
@@ -1068,10 +1079,9 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 				cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
 
 			} else {
-				mavlink_log_critical(&mavlink_log_pub, "Landing denied, land manually.");
+				mavlink_log_critical(&mavlink_log_pub, "Landing denied, land manually");
 				cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
 			}
-
 		}
 		break;