From 8c8f44e6f7f94a7ae6711188a620cf057a2bc4df Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Sat, 30 Jun 2012 15:34:55 -0700
Subject: [PATCH] Arducopter: enabled RTL_altitude, renamed function to be more
 accurate

---
 ArduCopter/commands.pde       | 12 +++++-------
 ArduCopter/commands_logic.pde |  3 +--
 2 files changed, 6 insertions(+), 9 deletions(-)

diff --git a/ArduCopter/commands.pde b/ArduCopter/commands.pde
index 25f3f8c3e6..466dd47b45 100644
--- a/ArduCopter/commands.pde
+++ b/ArduCopter/commands.pde
@@ -105,15 +105,13 @@ static void set_cmd_with_index(struct Location temp, int i)
 		g.command_total.set_and_save(i+1);
 }
 
-static int32_t read_alt_to_hold()
+static int32_t get_RTL_alt()
 {
-	return current_loc.alt;
-	/*
-	if(g.RTL_altitude <= 0)
+	if(g.RTL_altitude <= 0){
 		return current_loc.alt;
-	else
-		return g.RTL_altitude;// + home.alt;
-	*/
+	}else{
+		return g.RTL_altitude;
+	}
 }
 
 
diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index e20172b154..2c5dc4ba28 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -198,7 +198,7 @@ static void do_RTL(void)
 {
 	// TODO: Altitude option from mission planner
 	Location temp	= home;
-	temp.alt		= read_alt_to_hold();
+	temp.alt		= get_RTL_alt();
 
 	//so we know where we are navigating from
 	// --------------------------------------
@@ -561,7 +561,6 @@ static bool verify_loiter_turns()
 
 static bool verify_RTL()
 {
-	// loiter at the WP
 	wp_control 	= WP_MODE;
 
 	// Did we pass the WP?	// Distance checking