From 88b2f62e2f9e5447fdee20c57e076d061beb19f8 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 19 Jul 2017 17:05:01 +0900
Subject: [PATCH] Rover: mode rtl loses duplicate calls to
 calc_lateral_acceleration

Also no need to call calc_nav_steer
no need to set throttle before entering hold
---
 APMrover2/mode_rtl.cpp | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/APMrover2/mode_rtl.cpp b/APMrover2/mode_rtl.cpp
index d0f94c78c8..de77c08559 100644
--- a/APMrover2/mode_rtl.cpp
+++ b/APMrover2/mode_rtl.cpp
@@ -23,10 +23,6 @@ void ModeRTL::update_navigation()
 {
     // no loitering around the wp with the rover, goes direct to the wp position
     if (rover.verify_RTL()) {
-        g2.motors.set_throttle(g.throttle_min.get());
         rover.set_mode(rover.mode_hold);
-    } else {
-        calc_lateral_acceleration();
-        calc_nav_steer();
     }
 }