PIP mobility question

Hi,
We live in Nottinghamshire and have had a visit from Capita recently at home, which unlike ATOS do appear to understand the health problems you have.
I have based this opinion from 2 ATOS appointments and 1 Capita appointment where the HCP was more helpful when asked questions after the initial interview.
time will tell of course if we, yet again have to go to appeal

When i applied on the phone for PIP I was only asked what my medical conditions were and name and address of GP they never asked me how far I could walk. They sent a form for more information to my GP as I hadnt sent the form back in time they proceeded with it despite telling me that if i didnt send the form back in time i would have to phone and reapply apparently its because I have mental health problems.
Atos had originally when i spoke on the phone with them at the beginning of December 2013 to tell them I had sent the form back, wanted me to make an appointment at wandsworth which is miles away from wallington in surrey said no chance of going there and they agreed to wait till they got the form back from the GP. I phoned up last week because i hadnt heard anything and was told that i'm down for a home assessment after they received the form back from GP dont know how long i'll have to wait. This is different to when i changed from IB to ESA despite a letter from my GP i still had to go to an assessment