Copter: Ground oscillation gain reduction

lthall · Jul 22, 2024 · 01ab103 · 01ab103
1 parent 7c71836
commit 01ab103
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();
 }