Copter: Ground oscillation gain reduction

ArduPilot · Jul 22, 2024 · 4f9e599 · 4f9e599
1 parent 1497fe9
commit 4f9e599
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
@@ -423,6 +423,7 @@ void Copter::update_flight_mode()
 #if AP_RANGEFINDER_ENABLED
     surface_tracking.invalidate_for_logging();  // invalidate surface tracking alt, flight mode will set to true if used
 #endif
+    attitude_control->landed_gain_reduction(copter.ap.land_complete); // Adjust gains when landed to attenuate ground oscillation
 
     flightmode->run();
 }