From 43526e718eeec8ec3ce2161d55746a529cc5dd7c Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Fri, 19 Jun 2020 10:27:37 -0700
Subject: [PATCH] Plane: Remove the use of RTL_RADIUS from LOITER_UNLIM mission
 items

---
 ArduPlane/commands_logic.cpp | 10 ++--------
 1 file changed, 2 insertions(+), 8 deletions(-)

diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index f2dd05e4a2..a416588aee 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -657,14 +657,8 @@ bool Plane::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
 
 bool Plane::verify_loiter_unlim(const AP_Mission::Mission_Command &cmd)
 {
-    if (cmd.p1 <= 1 && abs(g.rtl_radius) > 1) {
-        // if mission radius is 0,1, and rtl_radius is valid, use rtl_radius.
-        loiter.direction = (g.rtl_radius < 0) ? -1 : 1;
-        update_loiter(abs(g.rtl_radius));
-    } else {
-        // else use mission radius
-        update_loiter(cmd.p1);
-    }
+    // else use mission radius
+    update_loiter(cmd.p1);
     return false;
 }