From 69fec433e6a5b2acfaf533014ffc10a779331592 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@jasonshort.local>
Date: Mon, 7 Nov 2011 21:30:12 -0800
Subject: [PATCH] Update to RTL logic.

---
 ArduCopter/commands_logic.pde | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index 8b23a304de..ee02eb0d69 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -468,8 +468,9 @@ static bool verify_RTL()
 {
 	// loiter at the WP
 	wp_control 	= WP_MODE;
+	// Did we pass the WP?	// Distance checking
 
-	if (wp_distance <= g.waypoint_radius) {
+	if((wp_distance <= g.waypoint_radius) || check_missed_wp()){
 		wp_control 	= LOITER_MODE;
 
 		//gcs_send_text_P(SEVERITY_LOW,PSTR("Reached home"));