Added comments

moved out failsafe check. otherwise the reporting was erroneous.

ArduCopter/events.pde

@@ -11,21 +11,20 @@ static void failsafe_on_event()
 	{
 		case AUTO:
 			if (g.throttle_fs_action == 1) {
+				// do_rtl sets the altitude to the current altitude by default
 				set_mode(RTL);
-				// send up up 10m
+				// We add an additional 10m to the current altitude
 				next_WP.alt += 1000;
 			}
 			// 2 = Stay in AUTO and ignore failsafe
 
 		default:
 			if(home_is_set == true){
-				// home distance is in meters
-				// This is to prevent accidental RTL
-				if ((home_distance > 15) && (current_loc.alt > 400)){
-					set_mode(RTL);
-					// send up up 10m
-					next_WP.alt += 1000;
-				}
+				// same as above ^
+				// do_rtl sets the altitude to the current altitude by default
+				set_mode(RTL);
+				// We add an additional 10m to the current altitude
+				next_WP.alt += 1000;
 			}else{
 				// We have no GPS so we must land
 				set_mode(LAND);