Check that home position is valid in RTL (PX4#15964)

mvacanti · Nov 27, 2020 · aef7285 · aef7285
1 parent 89d7ce6
commit aef7285
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
@@ -76,6 +76,10 @@ void RTL::find_RTL_destination()
 		return;
 	}
 
+	if (!_navigator->home_position_valid()) {
+		return;
+	}
+
 	_destination_check_time = hrt_absolute_time();
 
 	// get home position: