RTL loiters indefinitely instead of mission landing

PX4 Autopilot
1

Log: https://review.px4.io/plot_app?log=e18eb543-81ed-41eb-9a65-eb56e4eb7ea4

My PX4 v1.15 drone indefinitely loitered at the mission landing loiter point instead of continuing to land during RTL. We had to take over control and land it manually, but this is potentially disastrous behavior. It should have landed because RTL_TYPE = 2 and there was a mission landing planned.

It had these messages:

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image531×141 4.84 KB

I have not been able to replicate this in SITL by triggering a quadchute nor switching to Return mode. I’m not sure how to get the “Failsafe activated: Autopilot disengaged, switching to RTL” message either.

2

Hi there.
I first thought about the parameter RTL_LAND_DELAY which if you set it to -1 has exactly this effect but checking your log it seems that you didn’t touched it, during to default value 0 the drone should have landed. Unfortunately for now I don’t have another idea.