From 6de0566404bea3ec582a16408ebb75804b0b0e92 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 11 Oct 2012 15:03:00 +1100
Subject: [PATCH] APM: fixed auto-takeoff with zero lat/lng

consider a non-zero altitude to mean that we should use the relative
altitude specified
---
 ArduPlane/commands.pde | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduPlane/commands.pde b/ArduPlane/commands.pde
index 825dbd4b74..31b2ca86a8 100644
--- a/ArduPlane/commands.pde
+++ b/ArduPlane/commands.pde
@@ -88,7 +88,7 @@ static struct Location get_cmd_with_index(int16_t i)
     // Add on home altitude if we are a nav command (or other command with altitude) and stored alt is relative
     if ((temp.id < MAV_CMD_NAV_LAST || temp.id == MAV_CMD_CONDITION_CHANGE_ALT) &&
         (temp.options & MASK_OPTIONS_RELATIVE_ALT) &&
-        (temp.lat != 0 || temp.lng != 0)) {
+        (temp.lat != 0 || temp.lng != 0 || tmp.alt != 0)) {
         temp.alt += home.alt;
     }