From abb426aec3ccad504cdcb50127ac76c9426fdfe1 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Wed, 30 May 2012 11:06:41 -0700
Subject: [PATCH] When RTLing, force home as the final location for loiter.

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

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 49fc75cf72..4196a25953 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1751,6 +1751,10 @@ static void update_navigation()
 			if((wp_distance <= g.waypoint_radius) || check_missed_wp()){
 				// if loiter_timer value > 0, we are set to trigger auto_land or approach after 20 seconds
 				set_mode(LOITER);
+				// force loitering above home
+				next_WP.lat = home.lat;
+				next_WP.lng = home.lng;
+
 				if(g.rtl_land_enabled || failsafe)
 					loiter_timer = millis();
 				else