From e446f375a799d83d4d83121ed8e56f8865898d27 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sun, 21 Apr 2013 20:52:50 +1000
Subject: [PATCH] Plane: set loiter.direction for GUIDED mode

---
 ArduPlane/commands.pde | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/ArduPlane/commands.pde b/ArduPlane/commands.pde
index 00f4efa781..4f73936ab0 100644
--- a/ArduPlane/commands.pde
+++ b/ArduPlane/commands.pde
@@ -204,6 +204,12 @@ static void set_next_WP(const struct Location *wp)
 
 static void set_guided_WP(void)
 {
+    if (g.loiter_radius < 0) {
+        loiter.direction = -1;
+    } else {
+        loiter.direction = 1;
+    }
+
     // copy the current location into the OldWP slot
     // ---------------------------------------
     prev_WP = current_loc;