From 433eeb3d09e5c222cd36d0ad49fb4ed79b0a31d4 Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Wed, 23 Mar 2016 12:34:25 +0100
Subject: [PATCH] make landing in RTL default for VTOL capable vehicles

---
 ROMFS/px4fmu_common/init.d/rc.mc_defaults   | 2 ++
 ROMFS/px4fmu_common/init.d/rc.vtol_defaults | 1 +
 2 files changed, 3 insertions(+)

diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
index dde212f026..0bf41dcac6 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -15,6 +15,8 @@ then
 	param set PWM_DISARMED 900
 	param set PWM_MIN 1075
 	param set PWM_MAX 1950
+
+	param set RTL_LAND_DELAY 0
 fi
 
 # set environment variables (!= parameters)
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
index dac203ddf1..d8dab16cf0 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@@ -24,6 +24,7 @@ then
 	param set MPC_XY_VEL_MAX 4.0
 	param set MIS_YAW_TMT 10
 	param set MPC_ACC_HOR_MAX 2.0
+	param set RTL_LAND_DELAY 0
 fi
 
 # set environment variables (!= parameters)