From 9ae6fd408b2db464f3e9cfed738a05e1c578dfd6 Mon Sep 17 00:00:00 2001
From: Julian Kent <julian@auterion.com>
Date: Tue, 20 Oct 2020 10:31:44 +0200
Subject: [PATCH] Check that home position is valid in RTL (#15964)

---
 src/modules/navigator/rtl.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index 5e02a8eccebb..b403959313ce 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -76,6 +76,10 @@ void RTL::find_RTL_destination()
 		return;
 	}
 
+	if (!_navigator->home_position_valid()) {
+		return;
+	}
+
 	_destination_check_time = hrt_absolute_time();
 
 	// get home position: