RTL was broken by a recent change, revert

Revert "for multicopter landings make sure that the copter moves"

This reverts commit ad1058d3742bbfa9cbd16648aa2925fa1e618a55.

src/modules/navigator/mission.cpp

@@ -150,6 +150,7 @@ void
 Mission::on_active()
 {
 	check_mission_valid();
+
 	/* check if anything has changed */
 	bool onboard_updated = false;
 	orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
@@ -180,12 +181,6 @@ Mission::on_active()
 
 	} else if (_mission_type != MISSION_TYPE_NONE &&_param_altmode.get() == MISSION_ALTMODE_FOH) {
 		altitude_sp_foh_update();
-	} else if (_mission_item.nav_cmd == NAV_CMD_LAND && _waypoint_position_reached && _navigator->get_vstatus()->is_rotary_wing) {
-		// the copter has reached the landing spot location
-		// set the same landing item again but this time the vehicle will actually
-		// descend and land
-		set_mission_item_reached();
-		set_mission_items();
 	} else {
 		/* if waypoint position reached allow loiter on the setpoint */
 		if (_waypoint_position_reached && _mission_item.nav_cmd != NAV_CMD_IDLE) {

src/modules/navigator/mission_block.cpp

@@ -92,17 +92,9 @@ MissionBlock::is_mission_item_reached()
 			}
 			return true;
 			}
+
 		case NAV_CMD_LAND:
-			if (!_navigator->get_vstatus()->is_rotary_wing) {
-				return _navigator->get_vstatus()->condition_landed;
-			} else {
-				if (_waypoint_position_reached) {
-					// the copter has reached the position of the landing spot
-					// it can can start to descend
-					return _navigator->get_vstatus()->condition_landed;
-				}
-			}
-			break;
+			return _navigator->get_vstatus()->condition_landed;
 
 		/* TODO: count turns */
 		/*_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||*/
@@ -167,12 +159,6 @@ MissionBlock::is_mission_item_reached()
 			if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius()) {
 				_waypoint_position_reached = true;
 			}
-		} else if (_mission_item.nav_cmd == NAV_CMD_LAND) {
-			// check if we have reached our landing spot
-			if (dist_xy >= 0.0f && dist_xy <= _navigator->get_acceptance_radius()) {
-				_waypoint_position_reached = true;
-				return false;
-			}
 		} else if (!_navigator->get_vstatus()->is_rotary_wing &&
 			(_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED ||
 			_mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
@@ -236,7 +222,6 @@ MissionBlock::is_mission_item_reached()
 			return true;
 		}
 	}
-
 	return false;
 }
 
@@ -299,17 +284,7 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
 		break;
 
 	case NAV_CMD_LAND:
-
-		if (!_waypoint_position_reached) {
-			// we first need to move to the landing waypoint
-			// use the altitude specified in the mission item
-			sp->alt = item->altitude_is_relative ? item->altitude + _navigator->get_home_position()->alt : item->altitude;
-			sp->type = position_setpoint_s::SETPOINT_TYPE_POSITION;
-		} else {
-			sp->alt = item->altitude_is_relative ? item->altitude + _navigator->get_home_position()->alt : item->altitude;
-			sp->type = position_setpoint_s::SETPOINT_TYPE_LAND;
-		}
-
+		sp->type = position_setpoint_s::SETPOINT_TYPE_LAND;
 		break;
 
 	case NAV_CMD_LOITER_TIME_LIMIT: