From cf6d73ec88b9e3ce174858f510c067560e35dcbe Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Mon, 9 Jul 2012 13:11:58 -0700
Subject: [PATCH] commands.pde RTL Alt

fix to maintain current altitude of we are above our RTL alt for safety.
---
 ArduCopter/commands.pde | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/ArduCopter/commands.pde b/ArduCopter/commands.pde
index 466dd47b45..2cdea618e3 100644
--- a/ArduCopter/commands.pde
+++ b/ArduCopter/commands.pde
@@ -109,6 +109,8 @@ static int32_t get_RTL_alt()
 {
 	if(g.RTL_altitude <= 0){
 		return current_loc.alt;
+	}else if (g.RTL_altitude < current_loc.alt){
+		return current_loc.alt;
 	}else{
 		return g.RTL_altitude;
 	}