From 63be15e0182bb727d9ff8f274c82f496bf16c3f8 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sat, 4 Sep 2021 20:21:11 +0100
Subject: [PATCH] Plane: mode_qrtl: combine enter and init

---
 ArduPlane/mode_qrtl.cpp | 12 ++----------
 1 file changed, 2 insertions(+), 10 deletions(-)

diff --git a/ArduPlane/mode_qrtl.cpp b/ArduPlane/mode_qrtl.cpp
index d73c3c430d..07a25f97ca 100644
--- a/ArduPlane/mode_qrtl.cpp
+++ b/ArduPlane/mode_qrtl.cpp
@@ -2,15 +2,6 @@
 #include "Plane.h"
 
 bool ModeQRTL::_enter()
-{
-    return plane.mode_qstabilize._enter();
-}
-
-
-/*
-  handle QRTL mode
- */
-void ModeQRTL::init()
 {
     // use do_RTL() to setup next_WP_loc
     plane.do_RTL(plane.home.alt + quadplane.qrtl_alt*100UL);
@@ -30,10 +21,11 @@ void ModeQRTL::init()
     int32_t to_alt;
     if (plane.current_loc.get_alt_cm(Location::AltFrame::ABSOLUTE,from_alt) && plane.next_WP_loc.get_alt_cm(Location::AltFrame::ABSOLUTE,to_alt)) {
         poscontrol.slow_descent = from_alt > to_alt;
-        return;
+        return true;
     }
     // defualt back to old method
     poscontrol.slow_descent = (plane.current_loc.alt > plane.next_WP_loc.alt);
+    return true;
 }
 
 void ModeQRTL::update()