Copter: Remove 80m altitude limit on RTL

ArduCopter/commands.pde

@@ -1,16 +1,5 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-static int32_t get_RTL_alt()
-{
-    if(g.rtl_altitude <= 0) {
-		return min(current_loc.alt, RTL_ALT_MAX);
-    }else if (g.rtl_altitude < current_loc.alt) {
-		return min(current_loc.alt, RTL_ALT_MAX);
-    }else{
-        return g.rtl_altitude;
-    }
-}
-
 // run this at setup on the ground
 // -------------------------------
 static void init_home()

ArduCopter/config.h

@@ -541,10 +541,6 @@
  # define RTL_ALT 				    1500    // default alt to return to home in cm, 0 = Maintain current altitude
 #endif
 
-#ifndef RTL_ALT_MAX
- # define RTL_ALT_MAX               8000    // Max height to return to home in cm (i.e 80m)
-#endif
-
 #ifndef RTL_LOITER_TIME
  # define RTL_LOITER_TIME           5000    // Time (in milliseconds) to loiter above home before begining final descent
 #endif

ArduCopter/control_rtl.pde

@@ -268,3 +268,11 @@ static void rtl_land_run()
     rtl_state_complete = ap.land_complete;
 }
 
+// get_RTL_alt - return altitude which vehicle should return home at
+//      altitude is in cm above home
+static float get_RTL_alt()
+{
+    // return maximum of current altitude and rtl altitude
+    return max(current_loc.alt, g.rtl_altitude);
+}
+