From 58505d8242071fe7ceb45f9769de34686c5ed8ac Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 10 Jun 2015 20:04:40 +0900
Subject: [PATCH] Copter: autotune relaxes alt controller when landed

---
 ArduCopter/control_autotune.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/control_autotune.cpp b/ArduCopter/control_autotune.cpp
index 940537ae03..70e618a23f 100644
--- a/ArduCopter/control_autotune.cpp
+++ b/ArduCopter/control_autotune.cpp
@@ -293,7 +293,7 @@ void Copter::autotune_run()
     if (ap.land_complete) {
         // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
         attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(channel_throttle->control_in),true,g.throttle_filt);
-        pos_control.set_alt_target_to_current_alt();
+        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
     }else{
         // check if pilot is overriding the controls
         if (!is_zero(target_roll) || !is_zero(target_pitch) || !is_zero(target_yaw_rate) || !is_zero(target_climb_rate)) {