From a99748a13d399f4d9524a1d111073ff6fc31e514 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sat, 17 Dec 2022 18:27:48 +0000
Subject: [PATCH] Plane: Quadaplane: use land_at_climb_rate_cm only when
 landing

---
 ArduPlane/mode_qhover.cpp  |  2 +-
 ArduPlane/mode_qloiter.cpp |  6 +++---
 ArduPlane/mode_qrtl.cpp    |  2 +-
 ArduPlane/quadplane.cpp    | 16 ++++++++--------
 ArduPlane/quadplane.h      |  2 +-
 5 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/ArduPlane/mode_qhover.cpp b/ArduPlane/mode_qhover.cpp
index fe616292a7..13c1a4c4e6 100644
--- a/ArduPlane/mode_qhover.cpp
+++ b/ArduPlane/mode_qhover.cpp
@@ -8,7 +8,7 @@ bool ModeQHover::_enter()
     // set vertical speed and acceleration limits
     pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
     pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
-    quadplane.set_climb_rate_cms(0, false);
+    quadplane.set_climb_rate_cms(0);
 
     quadplane.init_throttle_wait();
     return true;
diff --git a/ArduPlane/mode_qloiter.cpp b/ArduPlane/mode_qloiter.cpp
index e7fd0dcb00..0b3aa6dfa6 100644
--- a/ArduPlane/mode_qloiter.cpp
+++ b/ArduPlane/mode_qloiter.cpp
@@ -103,13 +103,13 @@ void ModeQLoiter::run()
             quadplane.ahrs.set_touchdown_expected(true);
         }
 
-        quadplane.set_climb_rate_cms(-descent_rate_cms, descent_rate_cms>0);
+        pos_control->land_at_climb_rate_cm(-descent_rate_cms, descent_rate_cms>0);
         quadplane.check_land_complete();
     } else if (plane.control_mode == &plane.mode_guided && quadplane.guided_takeoff) {
-        quadplane.set_climb_rate_cms(0, false);
+        quadplane.set_climb_rate_cms(0);
     } else {
         // update altitude target and call position controller
-        quadplane.set_climb_rate_cms(quadplane.get_pilot_desired_climb_rate_cms(), false);
+        quadplane.set_climb_rate_cms(quadplane.get_pilot_desired_climb_rate_cms());
     }
     quadplane.run_z_controller();
 }
diff --git a/ArduPlane/mode_qrtl.cpp b/ArduPlane/mode_qrtl.cpp
index 015a89ea80..7063f32253 100644
--- a/ArduPlane/mode_qrtl.cpp
+++ b/ArduPlane/mode_qrtl.cpp
@@ -88,7 +88,7 @@ void ModeQRTL::run()
                                                                           quadplane.get_weathervane_yaw_rate_cds());
 
             // climb at full WP nav speed
-            quadplane.set_climb_rate_cms(quadplane.wp_nav->get_default_speed_up(), false);
+            quadplane.set_climb_rate_cms(quadplane.wp_nav->get_default_speed_up());
             quadplane.run_z_controller();
 
             ftype alt_diff;
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 342c9937cd..0269582d44 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1003,9 +1003,9 @@ void QuadPlane::check_yaw_reset(void)
     }
 }
 
-void QuadPlane::set_climb_rate_cms(float target_climb_rate_cms, bool force_descend)
+void QuadPlane::set_climb_rate_cms(float target_climb_rate_cms)
 {
-    pos_control->land_at_climb_rate_cm(target_climb_rate_cms, force_descend);
+    pos_control->input_vel_accel_z(target_climb_rate_cms, 0, false);
 }
 
 /*
@@ -1023,7 +1023,7 @@ void QuadPlane::hold_hover(float target_climb_rate_cms)
     multicopter_attitude_rate_update(get_desired_yaw_rate_cds(false));
 
     // call position controller
-    set_climb_rate_cms(target_climb_rate_cms, false);
+    set_climb_rate_cms(target_climb_rate_cms);
 
     run_z_controller();
 }
@@ -2790,7 +2790,7 @@ void QuadPlane::vtol_position_controller(void)
             float zero = 0;
             pos_control->input_pos_vel_accel_z(target_z, zero, 0);
         } else {
-            set_climb_rate_cms(0, false);
+            set_climb_rate_cms(0);
         }
         break;
     }
@@ -2804,7 +2804,7 @@ void QuadPlane::vtol_position_controller(void)
             }
         }
         const float descent_rate_cms = landing_descent_rate_cms(height_above_ground);
-        set_climb_rate_cms(-descent_rate_cms, descent_rate_cms>0);
+        pos_control->land_at_climb_rate_cm(-descent_rate_cms, descent_rate_cms>0);
         break;
     }
 
@@ -2952,10 +2952,10 @@ void QuadPlane::takeoff_controller(void)
             vel_z = 0;
             pos_control->input_pos_vel_accel_z(pos_z, vel_z, 0);
         } else {
-            set_climb_rate_cms(vel_z, false);
+            set_climb_rate_cms(vel_z);
         }
     } else {
-        set_climb_rate_cms(vel_z, false);
+        set_climb_rate_cms(vel_z);
     }
 
     run_z_controller();
@@ -3000,7 +3000,7 @@ void QuadPlane::waypoint_controller(void)
                                                        true);
 
     // climb based on altitude error
-    set_climb_rate_cms(assist_climb_rate_cms(), false);
+    set_climb_rate_cms(assist_climb_rate_cms());
     run_z_controller();
 }
 
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index 7bee1bf71b..45495d71c4 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -228,7 +228,7 @@ private:
     void hold_stabilize(float throttle_in);
 
     // set climb rate in position controller
-    void set_climb_rate_cms(float target_climb_rate_cms, bool force_descend);
+    void set_climb_rate_cms(float target_climb_rate_cms);
 
     // get pilot desired yaw rate in cd/s
     float get_pilot_input_yaw_rate_cds(void) const;