From 11918869a53a8ca72bc5ce8bd59e280bf76135e9 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 7 May 2014 15:03:00 +0900
Subject: [PATCH] Copter: RTL calls wp_and_spline_init

---
 ArduCopter/control_rtl.pde | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/ArduCopter/control_rtl.pde b/ArduCopter/control_rtl.pde
index bb9e8af0ee..1ec6a0c954 100644
--- a/ArduCopter/control_rtl.pde
+++ b/ArduCopter/control_rtl.pde
@@ -78,6 +78,9 @@ static void rtl_climb_start()
     rtl_state = InitialClimb;
     rtl_state_complete = false;
 
+    // initialise waypoint and spline controller
+    wp_nav.wp_and_spline_init();
+
     // get horizontal stopping point
     Vector3f destination;
     wp_nav.get_wp_stopping_point_xy(destination);
@@ -90,7 +93,9 @@ static void rtl_climb_start()
     destination.z = get_RTL_alt();
 #endif
 
+    // set the destination
     wp_nav.set_wp_destination(destination);
+    wp_nav.set_fast_waypoint(true);
 
     // hold current yaw during initial climb
     set_auto_yaw_mode(AUTO_YAW_HOLD);