WP mode activation control fix

[breadoven]

Fixes an error in #9558 which prevented WP end of mission RTH from working. Mission just ended without RTH or a final loiter.

PR fixes this issue and simplifies the previous messy logic. PR also seems to fix the issue related to #9754 where Auto flight mode aborts and drops out to idle at the final landing WP when Fixed Wing Auto Landing is activated.

The following change in PR #9754 should also no longer be required for WP mode at least.

inav/src/main/navigation/navigation.c

Line 4401 in 1869085

if (isFwLandInProgess()) {

HITL tested - seems to work as expected now with WP RTH working and WP mode inhibited when Manual mode and Mission Planner are active. WP mode FW Auto Landing is now initiated although it didn't seem to want to land, tried ... but then just ended up in an endless loiter ?

[Jetrell]

I experienced this bug in RC1 too.
WP RTH now works as it used to.. It will return to home or safehome after the last WP of the mission is complete, and loiter around.

But I didn't test the actual landing part, that you said stayed in a endless loiter. Because I wasn't planning on testing today. Just flying with friends. And this wasn't a plane I wanted to trust with auto landing just yet.

[breadoven]

I experienced this bug in RC1 too. WP RTH now works as it used to.. It will return to home or safehome after the last WP of the mission is complete, and loiter around.

But I didn't test the actual landing part, that you said stayed in a endless loiter. Because I wasn't planning on testing today. Just flying with friends. And this wasn't a plane I wanted to trust with auto landing just yet.

I managed to get Auto landing to work in HITL for FS RTH but only after playing with the flight mode flags to stop it disarming in flight (Failsafe disarm). With WP Landing it does the base leg I think but fails when it tries to line up the approach, just ends up in a constant loiter. I suspect it's some problem related to the way Auto Landing changes flight modes arbitrarily which is causing problems, perhaps after fiddled with them to get FS RTH to work.

Edit:
Managed to get WP Landing Auto landing to work in the end without any other changes but it's erratic as to whether or not it lands or gets stuck in a loiter. Some fine tuning required to make it more reliable I think.