From 39df609235bbd139a125e70fc0af8c94c7ba1d7c Mon Sep 17 00:00:00 2001
From: Holger Steinhaus <hsteinhaus@gmx.de>
Date: Thu, 13 Mar 2014 18:29:38 +0100
Subject: [PATCH] Copter: fixed vertical speed init for ALT_HOLD mode

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

diff --git a/ArduCopter/control_althold.pde b/ArduCopter/control_althold.pde
index 7aa90112b21..1fc9b77c386 100644
--- a/ArduCopter/control_althold.pde
+++ b/ArduCopter/control_althold.pde
@@ -9,6 +9,10 @@ static bool althold_init(bool ignore_checks)
 {
     // initialise altitude target to stopping point
     pos_control.set_target_to_stopping_point_z();
+
+    // initialize vertical speeds and leash lengths
+    pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
+
     return true;
 }