From adab4510135004f5def1827cb87fc29683f078a9 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 30 Mar 2016 12:24:35 -0400
Subject: [PATCH] fw defaults param fix

---
 ROMFS/px4fmu_common/init.d/rc.fw_defaults | 7 ++++---
 src/modules/navigator/rtl_params.c        | 2 +-
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index c0bd5b1c85..f876353263 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -7,9 +7,10 @@ then
 #
 # Default parameters for FW
 #
-	param set NAV_LAND_ALT 90
-	param set NAV_RTL_ALT 100
-	param set NAV_RTL_LAND_T -1
+	param set RTL_RETURN_ALT 100
+	param set RTL_DESCEND_ALT 100
+	param set RTL_LAND_DELAY -1
+
 	param set NAV_ACC_RAD 50
 
 	param set PE_VELNE_NOISE 0.3
diff --git a/src/modules/navigator/rtl_params.c b/src/modules/navigator/rtl_params.c
index c1158c7bc0..486d40e0f4 100644
--- a/src/modules/navigator/rtl_params.c
+++ b/src/modules/navigator/rtl_params.c
@@ -73,7 +73,7 @@ PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30);
  * RTL delay
  *
  * Delay after descend before landing in RTL mode.
- * If set to -1 the system will not land but loiter at NAV_LAND_ALT.
+ * If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.
  *
  * @unit s
  * @min -1