From fd97eb5a8ddc7597f0fda9f13a7f8bdd4350716b Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Tue, 3 Jul 2012 17:38:50 -0700
Subject: [PATCH] commands

fixed logic bug to make a copter loiter after the mission is ended.
---
 ArduCopter/commands_process.pde | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/commands_process.pde b/ArduCopter/commands_process.pde
index 56583022d5..7038e46649 100644
--- a/ArduCopter/commands_process.pde
+++ b/ArduCopter/commands_process.pde
@@ -65,11 +65,11 @@ static void update_commands()
 				// we will disarm the motors after landing.
 			} else {
 				// If the approach altitude is valid (above 1m), do approach, else land
-				if(g.rtl_approach_alt >= 1){
+				if(g.rtl_approach_alt == 0){
+					set_mode(LAND);
+				}else{
 					set_mode(LOITER);
 					set_new_altitude(g.rtl_approach_alt);
-				}else{
-					set_mode(LAND);
 				}
 			}
 		}