From 75401756f2120092ce8a6cf2e87fabb989b6bb6b Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Thu, 6 Dec 2012 12:40:53 +0900
Subject: [PATCH] ArduCopter: maintain loiter control even below 1m while
 landing

---
 ArduCopter/commands_logic.pde | 11 -----------
 1 file changed, 11 deletions(-)

diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index 9528437339..e08ea162ad 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -358,17 +358,6 @@ static bool verify_takeoff()
 // verify_land - returns true if landing has been completed
 static bool verify_land()
 {
-    // loiter above 3m
-    if(current_loc.alt > 300) {
-        wp_control = LOITER_MODE;
-    }
-
-    // turn off loiter below 1m
-    // To-Do: instead of turning off loiter we should make loiter less aggressive
-    if(current_loc.alt < 100 ) {
-        wp_control      = NO_NAV_MODE;
-    }
-
     // rely on THROTTLE_LAND mode to correctly update landing status
     return ap.land_complete;
 }