From 03e0437c19cc23aab6bd0562c56972cc651ce87e Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 30 Aug 2018 10:14:31 +0900
Subject: [PATCH] Rover: fix RTL when AP_RALLY disabled

---
 APMrover2/mode.h       |  1 -
 APMrover2/mode_rtl.cpp | 10 ++++++++--
 2 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/APMrover2/mode.h b/APMrover2/mode.h
index 9700db1448..c5eece3139 100644
--- a/APMrover2/mode.h
+++ b/APMrover2/mode.h
@@ -398,7 +398,6 @@ public:
 protected:
 
     bool _enter() override;
-    Location return_target;
 };
 
 class ModeSmartRTL : public Mode
diff --git a/APMrover2/mode_rtl.cpp b/APMrover2/mode_rtl.cpp
index 912eff5cd1..afeec521ae 100644
--- a/APMrover2/mode_rtl.cpp
+++ b/APMrover2/mode_rtl.cpp
@@ -10,9 +10,15 @@ bool ModeRTL::_enter()
 
     // initialise waypoint speed
     set_desired_speed_to_default(true);
-    return_target = rover.g2.rally.calc_best_rally_or_home_location(rover.current_loc, ahrs.get_home().alt);
+
+    // set target to the closest rally point or home
+#if AP_RALLY == ENABLED
+    set_desired_location(rover.g2.rally.calc_best_rally_or_home_location(rover.current_loc, ahrs.get_home().alt));
+#else
     // set destination
-    set_desired_location(return_target);
+    set_desired_location(rover.home);
+#endif
+
     return true;
 }