diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index 8859af1903..41b092d130 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -979,7 +979,7 @@ static void update_current_flight_mode(void)
 
 		switch(nav_command_ID){
 			case MAV_CMD_NAV_TAKEOFF:
-				if (hold_course > -1) {
+				if (hold_course != -1) {
 					calc_nav_roll();
 				} else {
 					nav_roll = 0;
@@ -1012,12 +1012,16 @@ static void update_current_flight_mode(void)
 					nav_pitch = landing_pitch;      // pitch held constant
 				}
 
-				if (land_complete){
+				if (land_complete) {
+                    // we are in the final stage of a landing - force
+                    // zero throttle
 					g.channel_throttle.servo_out = 0;
 				}
 				break;
 
 			default:
+                // we are doing normal AUTO flight, the special cases
+                // are for takeoff and landing
 				hold_course = -1;
 				calc_nav_roll();
 				calc_nav_pitch();
@@ -1025,11 +1029,13 @@ static void update_current_flight_mode(void)
 				break;
 		}
 	}else{
+        // hold_course is only used in takeoff and landing
+        hold_course = -1;
+
 		switch(control_mode){
 			case RTL:
 			case LOITER:
 			case GUIDED:
-				hold_course = -1;
 				crash_checker();
 				calc_nav_roll();
 				calc_nav_pitch();
diff --git a/ArduPlane/commands_logic.pde b/ArduPlane/commands_logic.pde
index c3a53ed7b9..6396d28a4d 100644
--- a/ArduPlane/commands_logic.pde
+++ b/ArduPlane/commands_logic.pde
@@ -276,7 +276,7 @@ static void do_loiter_time()
 static bool verify_takeoff()
 {
 	if (g_gps->ground_speed > 300){
-		if(hold_course == -1){
+		if (hold_course == -1) {
 			// save our current course to take off
 			if(g.compass_enabled) {
 				hold_course = dcm.yaw_sensor;
@@ -286,7 +286,7 @@ static bool verify_takeoff()
 		}
 	}
 
-	if(hold_course > -1){
+	if (hold_course != -1) {
 		// recalc bearing error with hold_course;
 		nav_bearing = hold_course;
 		// recalc bearing error
@@ -302,9 +302,15 @@ static bool verify_takeoff()
 	}
 }
 
+// we are executing a landing
 static bool verify_land()
 {
-	// we don't verify landing - we never go to a new Nav command after Land
+	// we don't 'verify' landing in the sense that it never completes,
+	// so we don't verify command completion. Instead we use this to
+	// adjust final landing parameters
+
+    // Set land_complete if we are within 2 seconds distance or within
+    // 3 meters altitude of the landing point
 	if (((wp_distance > 0) && (wp_distance <= (2*g_gps->ground_speed/100)))
 		|| (current_loc.alt <= next_WP.alt + 300)){
 
@@ -318,7 +324,7 @@ static bool verify_land()
 		}
 	}
 
-	if(hold_course > -1){
+	if (hold_course != -1){
 		// recalc bearing error with hold_course;
 		nav_bearing = hold_course;
 		// recalc bearing error