From e116636fe97b0cbaf23f13fb398788e47ce966f0 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Thu, 5 Jan 2012 21:57:34 -0800
Subject: [PATCH] Auto_land update

---
 ArduCopter/ArduCopter.pde | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 5ab354255c..6862ff6caf 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1609,8 +1609,8 @@ static void update_navigation()
 		case RTL:
 			if((wp_distance <= g.waypoint_radius) || check_missed_wp()){
 				// if this value > 0, we are set to trigger auto_land after 30 seconds
-				auto_land_timer = millis();
 				set_mode(LOITER);
+				auto_land_timer = millis();
 
 			}else{
 				// calculates desired Yaw
@@ -1645,7 +1645,7 @@ static void update_navigation()
 			if(auto_land_timer != 0 && (millis() - auto_land_timer) > 30000){
 				// just to make sure we clear the timer
 				auto_land_timer = 0;
-				set_mode(land);
+				set_mode(LAND);
 			}
 
 			// calculates the desired Roll and Pitch