From a2b338c052bfd63c2a93015939cec2f332cc8680 Mon Sep 17 00:00:00 2001
From: Adam M Rivera <a432511@gmail.com>
Date: Sun, 15 Apr 2012 16:55:34 -0500
Subject: [PATCH] System: Added handler for the new APPROACH flight mode which
 will initiate an approach to a target alt as defined by the user.

---
 ArduCopter/system.pde | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index e0d975b37b..b8a63b8a30 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -484,6 +484,13 @@ static void set_mode(byte mode)
 			do_land();
 			break;
 
+		case APPROACH:
+			yaw_mode 		= LOITER_YAW;
+			roll_pitch_mode = LOITER_RP;
+			throttle_mode 	= THROTTLE_AUTO;
+			do_approach();
+			break;
+
 		case RTL:
 			yaw_mode 		= RTL_YAW;
 			roll_pitch_mode = RTL_RP;