From d3cbf733bac3f07f74c8c87cfa937d7fbc12ba28 Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Mon, 17 Dec 2012 21:49:57 +0900
Subject: [PATCH] ArduCopter: ensure RTL performs a land if a failsafe has been
 triggered

---
 ArduCopter/commands_logic.pde | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index 01faa63d85..eccde0b683 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -511,7 +511,7 @@ static bool verify_RTL()
             // check if we've loitered long enough
             if( millis() - rtl_loiter_start_time > (uint32_t)g.rtl_loiter_time.get() ) {
                 // initiate landing or descent
-                if(g.rtl_alt_final == 0) {
+                if(g.rtl_alt_final == 0 || ap.failsafe) {
                     // land
                     do_land();
                     // override landing location (do_land defaults to current location)