From d12bf868769a6064e27757b113ce5b4590786c35 Mon Sep 17 00:00:00 2001
From: Adam M Rivera <a432511@gmail.com>
Date: Sun, 15 Apr 2012 16:53:25 -0500
Subject: [PATCH] commands_logic: Added do_approach() to set the new target alt
 based on the user defined value.

---
 ArduCopter/commands_logic.pde | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index ab0a4e8617..bea0bb447f 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -292,6 +292,27 @@ static void do_land()
 	set_new_altitude(-1000);
 }
 
+static void do_approach()
+{
+	wp_control = LOITER_MODE;
+
+	// just to make sure
+	land_complete		= false;
+
+	// landing boost lowers the main throttle to mimmick
+	// the effect of a user's hand
+	landing_boost 		= 0;
+
+	// A counter that goes up if our climb rate stalls out.
+	ground_detector 	= 0;
+
+	// hold at our current location
+	set_next_WP(&current_loc);
+
+	// Set target alt based on user setting
+	set_new_altitude(g.rtl_approach_alt * 100);
+}
+
 static void do_loiter_unlimited()
 {
 	wp_control = LOITER_MODE;