From 85ab3edc5f497bd6563a511b0421f2aff60f0770 Mon Sep 17 00:00:00 2001
From: Ferruccio Vicari <Ferruccio1984@users.noreply.github.com>
Date: Tue, 19 Sep 2017 09:28:45 +0200
Subject: [PATCH] Plane: Smoother transition to QLOITER and QLAND

Use estimated stopping position
---
 ArduPlane/quadplane.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index c7ada253cd..26bd31ce0f 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -832,8 +832,9 @@ void QuadPlane::control_hover(void)
 
 void QuadPlane::init_loiter(void)
 {
-    // set target to current position
-    wp_nav->init_loiter_target();
+    Vector3f stopping_point;
+    wp_nav->get_loiter_stopping_point_xy(stopping_point);
+    wp_nav->init_loiter_target(stopping_point);
 
     // initialize vertical speed and acceleration
     pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);