ArduCopter: Changed millis compare to use new config value for approach delay.
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@ -1814,8 +1814,8 @@ static void update_navigation()
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wp_control = LOITER_MODE;
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}
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// If we have a safe approach alt set and we have been loitering for 20 seconds, begin approach
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if(g.rtl_approach_alt >= 1 && (millis() - loiter_timer) > 20000){
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// If we have a safe approach alt set and we have been loitering for 20 seconds(default), begin approach
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if(g.rtl_approach_alt >= 1 && (millis() - loiter_timer) > (RTL_APPROACH_DELAY * 1000)){
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// just to make sure we clear the timer
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loiter_timer = 0;
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set_mode(APPROACH);
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