From 61baa666c4a709f0adf30aa62fdb1bdaa94c9705 Mon Sep 17 00:00:00 2001
From: Adam M Rivera <a432511@gmail.com>
Date: Fri, 29 Jun 2012 21:41:56 -0500
Subject: [PATCH] commands_process.pde: Bug fix 427. By default, the copter
 would land after an AUTO mission. Updated to check for valid approach
 altitude at end of mission.

---
 ArduCopter/commands_process.pde | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/commands_process.pde b/ArduCopter/commands_process.pde
index 4c3b94eda7..18132e284d 100644
--- a/ArduCopter/commands_process.pde
+++ b/ArduCopter/commands_process.pde
@@ -64,7 +64,8 @@ static void update_commands()
 			if (land_complete == true){
 				// we will disarm the motors after landing.
 			} else {
-				set_mode(LAND);
+				// If the approach altitude is valid (above 1m), do approach, else land
+				set_mode(((g.rtl_approach_alt >= 1) ? APPROACH : LAND));
 			}
 		}
 	}