implemented feedback

src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp

@@ -247,12 +247,12 @@ void FlightTaskAuto::_prepareLandSetpoints()
 	if (_type_previous != WaypointType::land) {
 		// initialize yaw and xy-position
 		_land_heading = _yaw_setpoint;
-		_stick_acceleration_xy.resetPosition(Vector2f(_triplet_target(0), _triplet_target(1)));
-		_initial_land_position = Vector3f(_triplet_target(0), _triplet_target(1), NAN);
+		_stick_acceleration_xy.resetPosition(Vector2f(_target(0), _target(1)));
+		_initial_land_position = Vector3f(_target(0), _target(1), NAN);
 	}
 
 	// Update xy-position in case of landing position changes (etc. precision landing)
-	_land_position = Vector3f(_triplet_target(0), _triplet_target(1), NAN);
+	_land_position = Vector3f(_target(0), _target(1), NAN);
 
 	// User input assisted landing
 	if (_param_mpc_land_rc_help.get() && _sticks.checkAndUpdateStickInputs()) {

src/modules/navigator/land.cpp

@@ -57,10 +57,18 @@ Land::on_activation()
 
 	/* convert mission item to current setpoint */
 	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
-	pos_sp_triplet->previous.valid = false;
-	// set current mission_item so that we can breake before reaching the landing waypoint
-	_navigator->calculate_breaking_stop(_mission_item.lat, _mission_item.lon);
-	mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
+
+	if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
+		mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
+		pos_sp_triplet->previous.valid = false;
+
+	} else {
+		// set current mission_item so that we can break before reaching the landing waypoint
+		_navigator->calculate_breaking_stop(_mission_item.lat, _mission_item.lon);
+		mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
+		pos_sp_triplet->previous = pos_sp_triplet->current; // avoid getting into offtrack mode.
+	}
+
 	pos_sp_triplet->next.valid = false;
 
 	_navigator->set_position_setpoint_triplet_updated();