From 30df8796ce2ebb6e4d69c6842d493be6855a7f19 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 29 May 2013 21:44:08 +1000
Subject: [PATCH] Copter: fixed loading of waypoints

copter code assumes that command_total includes the home waypoint
---
 ArduCopter/GCS_Mavlink.pde | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 451068e3cc..efb48ac6c3 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -1573,7 +1573,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         waypoint_receiving   = true;
         waypoint_sending         = false;
         waypoint_request_i   = 0;
-        waypoint_request_last= g.command_total;
+        // note that ArduCopter sets waypoint_request_last to
+        // command_total-1, whereas plane and rover use
+        // command_total. This is because the copter code assumes
+        // command_total includes home
+        waypoint_request_last= g.command_total - 1;
         waypoint_timelast_request = 0;
         break;
     }