From 16aa2ed4f8293e9c1320562a431caef1132cfa66 Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Thu, 8 Aug 2024 14:56:39 +0930
Subject: [PATCH] Copter: Fix payload place bug

---
 ArduCopter/mode_auto.cpp | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index 0da35567d3..08f41f06c7 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -1439,8 +1439,7 @@ void PayloadPlace::run()
         copter.flightmode->land_run_horizontal_control();
         // update altitude target and call position controller
         pos_control->land_at_climb_rate_cm(-descent_speed_cms, true);
-        pos_control->update_z_controller();
-        return;
+        break;
     case State::Release:
     case State::Releasing:
     case State::Delay:
@@ -1448,8 +1447,7 @@ void PayloadPlace::run()
         copter.flightmode->land_run_horizontal_control();
         // update altitude target and call position controller
         pos_control->land_at_climb_rate_cm(0.0, false);
-        pos_control->update_z_controller();
-        return;
+        break;
     case State::Ascent:
     case State::Done:
         float vel = 0.0;
@@ -1457,6 +1455,7 @@ void PayloadPlace::run()
         pos_control->input_pos_vel_accel_z(descent_start_altitude_cm, vel, 0.0);
         break;
     }
+    pos_control->update_z_controller();
 }
 #endif