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[Bug] Fixed-wing Mission landing veers off-course in Return *Personnel Safety Risk!* #25436

@msberk

Description

@msberk

Describe the bug

In Return mode, when making the landing approach, the vehicle unexpectedly veers off course immediately after finishing loiter to alt. This does not occur when letting the mission play out, or skipping to the landing pattern when still in Mission mode. This could cause immediate danger to those near the landing location. Not tested on hardware, only SITL while working on RTL failsafe behavior.

To Reproduce

  1. Start PX4 SITL with gz_rc_cessna or gz_advanced_plane with default RTL parameters (which are fixed wing default, and will track to DO_LAND_START)
  2. Prepare a mission with a landing pattern
  3. Begin mission
  4. Trigger RTL
  5. Observe behavior

Expected behavior

Following the path to the intended landing point

Screenshot / Media

Image

Green dot center of loiter-to-alt for pattern. Red line intended landing path. Blue circle intended landing spot. Aborts occured in SITL due to lack of terrain. With FW_LND_USETER disabled it will continue in a straight line and land in the off-course direction (in this picture, it would mean landing in the generally NE direction rather than due east as intended).

Flight Log

https://review.px4.io/plot_app?log=ac310a01-c5bc-4d2c-9c79-a2daa66e81de

Software Version

1.15.4

Reproduced on 1.15.0, not observed on 1.14.4. Not yet tested on 1.16.0

Flight controller

SITL, Ubuntu 22.04

Vehicle type

Fixed Wing

How are the different components wired up (including port information)

N/A

Additional context

No response

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