From 87f72e54e12d9ee39bc4ef136480405bf775e7a7 Mon Sep 17 00:00:00 2001
From: lthall <leonardthall@gmail.com>
Date: Wed, 24 Apr 2024 16:25:37 +0930
Subject: [PATCH] Copter: Include landed_gain_reduction

---
 ArduCopter/mode_stabilize.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/ArduCopter/mode_stabilize.cpp b/ArduCopter/mode_stabilize.cpp
index 5dbf2d4bdc471b..72bbb834b41cd9 100644
--- a/ArduCopter/mode_stabilize.cpp
+++ b/ArduCopter/mode_stabilize.cpp
@@ -62,6 +62,9 @@ void ModeStabilize::run()
         break;
     }
 
+    // reduce gains when landed;
+    attitude_control->landed_gain_reduction(copter.ap.land_complete);
+    
     // call attitude controller
     attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);