From 0d23c3b910b4b7290d5ec2899092874b97b47097 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 17 Mar 2014 10:17:57 +0900
Subject: [PATCH] Copter: initialise vertical speed for Loiter mode

---
 ArduCopter/control_loiter.pde | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/ArduCopter/control_loiter.pde b/ArduCopter/control_loiter.pde
index 251163393f..01fe79fc58 100644
--- a/ArduCopter/control_loiter.pde
+++ b/ArduCopter/control_loiter.pde
@@ -8,10 +8,16 @@
 static bool loiter_init(bool ignore_checks)
 {
     if (GPS_ok() || ignore_checks) {
+
         // set target to current position
         wp_nav.init_loiter_target();
+
+        // initialize vertical speeds
+        pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
+
         // initialise altitude target to stopping point
         pos_control.set_target_to_stopping_point_z();
+
         return true;
     }else{
         return false;