diydrones/ardupilot — pull request #208 by bob01 (2013-04-18 04:06:15+00:00)
Title: ArduCopter: Failsafe ALWAYS_LAND

Hello:
I've added a 3rd failsafe option, ALWAYS_LAND for cases in which attempting RTL may not be the best thing to do when something goes wrong. eg when launching from a small area or where GPS drift may be a concern.

I hope others find this useful.
Best,
- Rob