From b09ab99699e5c7e4370ad0c647408c68be2b6599 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@jasonshort.local>
Date: Sat, 26 Nov 2011 13:28:08 -0800
Subject: [PATCH] added safety checks for RTL

---
 ArduCopter/events.pde | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/events.pde b/ArduCopter/events.pde
index 2ebb8b119e..a4dda26bce 100644
--- a/ArduCopter/events.pde
+++ b/ArduCopter/events.pde
@@ -16,7 +16,11 @@ static void failsafe_on_event()
 			// 2 = Stay in AUTO and ignore failsafe
 
 		default:
-			set_mode(RTL);
+			if(home_is_set == true){
+				if (get_distance(&current_loc, &home) > 15){
+					set_mode(RTL);
+				}
+			}
 			break;
 	}
 }