Copter: Ground oscillation gain reduction

lthall · Oct 8, 2024 · 03e45c4 · 03e45c4
1 parent da62c4c
commit 03e45c4
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
@@ -420,6 +420,7 @@ bool Copter::set_mode(const uint8_t new_mode, const ModeReason reason)
 void Copter::update_flight_mode()
 {
     surface_tracking.invalidate_for_logging();  // invalidate surface tracking alt, flight mode will set to true if used
+    attitude_control->landed_gain_reduction(copter.ap.land_complete); // Adjust gains when landed to attenuate ground oscillation
 
     flightmode->run();
 }