From 0744179970d5fe9f97d325bf68e6f8f713670427 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Mon, 9 Jan 2012 16:56:52 -0800
Subject: [PATCH] Added comments moved out failsafe check. otherwise the
 reporting was erroneous.

---
 ArduCopter/events.pde | 15 +++++++--------
 1 file changed, 7 insertions(+), 8 deletions(-)

diff --git a/ArduCopter/events.pde b/ArduCopter/events.pde
index 1908aff2fb..6788e4b698 100644
--- a/ArduCopter/events.pde
+++ b/ArduCopter/events.pde
@@ -11,21 +11,20 @@ static void failsafe_on_event()
 	{
 		case AUTO:
 			if (g.throttle_fs_action == 1) {
+				// do_rtl sets the altitude to the current altitude by default
 				set_mode(RTL);
-				// send up up 10m
+				// We add an additional 10m to the current altitude
 				next_WP.alt += 1000;
 			}
 			// 2 = Stay in AUTO and ignore failsafe
 
 		default:
 			if(home_is_set == true){
-				// home distance is in meters
-				// This is to prevent accidental RTL
-				if ((home_distance > 15) && (current_loc.alt > 400)){
-					set_mode(RTL);
-					// send up up 10m
-					next_WP.alt += 1000;
-				}
+				// same as above ^
+				// do_rtl sets the altitude to the current altitude by default
+				set_mode(RTL);
+				// We add an additional 10m to the current altitude
+				next_WP.alt += 1000;
 			}else{
 				// We have no GPS so we must land
 				set_mode(LAND);