From 5e9db462f541ae912ef3a80775fbb607d7b5f7b6 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Wed, 11 Jan 2012 21:45:24 -0800
Subject: [PATCH] attempting to force down without using Manual boost.

---
 ArduCopter/commands_logic.pde | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index 4896d0a5b4..90bfeed52d 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -359,9 +359,12 @@ static bool verify_land()
 	// remenber altitude for climb_rate
 	old_alt = current_loc.alt;
 
-	if ((current_loc.alt - home.alt) < 200){
+	if ((current_loc.alt - home.alt) < 250){
 		// don't bank to hold position
 		wp_control = NO_NAV_MODE;
+		// try and come down faster
+		// by setting next_WP really low.
+		set_new_altitude(-1000);
 	}
 
 	if((current_loc.alt - home.alt)  < 100 && velocity_land <= 50){