The mission has a landing marker, but RTL is not told to use it

What ArduPilot says:

• PreArm: DO_RETURN_PATH_START set and RTL_AUTOLAND disabled
• PreArm: DO_LAND_START set and RTL_AUTOLAND disabled

The mission contains a DO_LAND_START (the marker where a landing sequence begins) or a DO_RETURN_PATH_START (the marker of a route home), and RTL_AUTOLAND is 0. RTL would then never use the marker: the plane would come home and circle until the battery is empty. ArduPilot makes you choose before it arms. This is one of the mission checks.

What to do, most likely first

1. You planned an automatic landing and did not tell RTL to use it.

   FixSet RTL_AUTOLAND: 1 flies home first and then lands through DO_LAND_START, 2 goes straight to the nearest landing sequence, 4 joins the route marked by DO_RETURN_PATH_START.

2. The marker is there only so that an aborted landing can start again.

   FixSet RTL_AUTOLAND to 3: the marker serves go-arounds only, and RTL keeps circling over home.

3. The marker was left in the mission by mistake.

   CheckOpen the mission and look for DO_LAND_START or DO_RETURN_PATH_START among the items.

   FixRemove the item and upload the mission again.

With RTL_AUTOLAND 1, 2 or 4, every failsafe that ends in RTL also lands by itself. Before each flight make sure the landing sequence suits the wind of the day.

Parameters to look at

Where to do it:Mission Energy Check