From c143e08d2eb8364819fa408659070b555a5f996a Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@gmail.com>
Date: Tue, 20 Sep 2011 10:39:39 -0700
Subject: [PATCH] Logic fix for RTL option

---
 ArduCopter/control_modes.pde | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/control_modes.pde b/ArduCopter/control_modes.pde
index f0d4e3b7c2..7e7b5c6456 100644
--- a/ArduCopter/control_modes.pde
+++ b/ArduCopter/control_modes.pde
@@ -62,7 +62,8 @@ static void read_trim_switch()
 	//Serial.println(g.rc_7.control_in, DEC);
 
 #elif CH7_OPTION == CH7_RTL
-	set_mode(RTL);
+	if(control_mode != RTL && g.rc_7.control_in > 800)
+		set_mode(RTL);
 	//do_simple = (g.rc_7.control_in > 800);
 	//Serial.println(g.rc_7.control_in, DEC);