From 1b5b46dab5f2a7560032341381c94683023e06f8 Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Wed, 19 Sep 2018 12:20:37 +0930
Subject: [PATCH] Copter: Missing Loiter Init on accel

---
 ArduCopter/mode_auto.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index f7c93d167a..7cc435c2f3 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -829,6 +829,7 @@ void Copter::ModeAuto::land_run()
     if (!motors->armed() || !ap.auto_armed || ap.land_complete || !motors->get_interlock()) {
         zero_throttle_and_relax_ac();
         // set target to current position
+        loiter_nav->clear_pilot_desired_acceleration();
         loiter_nav->init_target();
         return;
     }
@@ -924,6 +925,7 @@ void Copter::ModeAuto::payload_place_run()
     if (!payload_place_run_should_run()) {
         zero_throttle_and_relax_ac();
         // set target to current position
+        loiter_nav->clear_pilot_desired_acceleration();
         loiter_nav->init_target();
         return;
     }