navigator: forbid READY - > RTL transition

src/modules/navigator/navigator_main.cpp

@@ -689,7 +689,7 @@ Navigator::task_main()
 					if (_vstatus.return_switch == RETURN_SWITCH_RETURN) {
 						/* switch to RTL if not already landed after RTL and home position set */
 						if (!(_rtl_state == RTL_STATE_DESCEND &&
-						      (myState == NAV_STATE_READY || myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
+						      (myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
 						    _vstatus.condition_home_position_valid) {
 							dispatch(EVENT_RTL_REQUESTED);
 						}
@@ -748,7 +748,7 @@ Navigator::task_main()
 
 						case NAV_STATE_RTL:
 							if (!(_rtl_state == RTL_STATE_DESCEND &&
-							      (myState == NAV_STATE_READY || myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
+							      (myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
 							    _vstatus.condition_home_position_valid) {
 								dispatch(EVENT_RTL_REQUESTED);
 							}
@@ -756,9 +756,7 @@ Navigator::task_main()
 							break;
 
 						case NAV_STATE_LAND:
-							if (myState != NAV_STATE_READY) {
-								dispatch(EVENT_LAND_REQUESTED);
-							}
+							dispatch(EVENT_LAND_REQUESTED);
 
 							break;