From 176a80f242c951264cdfbc907aae5646dc767782 Mon Sep 17 00:00:00 2001
From: "Konstantin Sharlaimov (DigitalEntity)"
 <konstantin.sharlaimov@gmail.com>
Date: Mon, 7 Jan 2019 20:55:45 +0100
Subject: [PATCH] [NAV] Fix failsafe RTH getting stuck if RTH->other_NAV_mode
 transition is not handled

---
 src/main/navigation/navigation.c | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 566eab484e..2c004fc329 100755
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -3180,8 +3180,10 @@ void activateForcedRTH(void)
 
 void abortForcedRTH(void)
 {
+    // Disable failsafe RTH and make sure we back out of navigation mode to IDLE
+    // If any navigation mode was active prior to RTH it will be re-enabled with next RX update
     posControl.flags.forcedRTHActivated = false;
-    navProcessFSMEvents(selectNavEventFromBoxModeInput());
+    navProcessFSMEvents(NAV_FSM_EVENT_SWITCH_TO_IDLE);
 }
 
 rthState_e getStateOfForcedRTH(void)