mission: handle precision landing inactivation properly

src/modules/navigator/mission.cpp

@@ -143,6 +143,10 @@ Mission::on_inactivation()
 	cmd.param1 = -1.0f;
 	cmd.param3 = 1.0f;
 	_navigator->publish_vehicle_cmd(&cmd);
+
+	if (_navigator->get_precland()->is_activated()) {
+		_navigator->get_precland()->on_inactivation();
+	}
 }
 
 void
@@ -174,17 +178,6 @@ Mission::on_activation()
 void
 Mission::on_active()
 {
-	if (_work_item_type == WORK_ITEM_TYPE_PRECISION_LAND) {
-		// switch out of precision land once landed
-		if (_navigator->get_land_detected()->landed) {
-			_navigator->get_precland()->on_inactivation();
-			_work_item_type = WORK_ITEM_TYPE_DEFAULT;
-
-		} else {
-			_navigator->get_precland()->on_active();
-		}
-	}
-
 	check_mission_valid(false);
 
 	/* check if anything has changed */
@@ -270,6 +263,13 @@ Mission::on_active()
 
 		do_abort_landing();
 	}
+
+	if (_work_item_type == WORK_ITEM_TYPE_PRECISION_LAND) {
+		_navigator->get_precland()->on_active();
+
+	} else if (_navigator->get_precland()->is_activated()) {
+		_navigator->get_precland()->on_inactivation();
+	}
 }
 
 bool