From 21a9f8e3a2751f05dee853493bdfcfb05f9e214f Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sun, 10 Dec 2023 17:40:29 +0000
Subject: [PATCH] Plane: move landing servo override out of throttle control
 function

---
 ArduPlane/Plane.h    | 2 +-
 ArduPlane/servos.cpp | 7 ++++++-
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 80e3cb8636..b40ab6a132 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -1091,7 +1091,7 @@ private:
     // servos.cpp
     void set_servos_idle(void);
     void set_servos();
-    void set_servos_controlled(void);
+    void set_throttle(void);
     void set_takeoff_expected(void);
     void set_servos_old_elevons(void);
     void set_servos_flaps(void);
diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index 6048aed804..51a28e1ee3 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -829,8 +829,13 @@ void Plane::set_servos(void)
     quadplane.update();
 #endif
 
+    if (flight_stage == AP_FixedWing::FlightStage::LAND) {
+        // allow landing to override servos if it would like to
+        landing.override_servos();
+    }
+
     if (control_mode != &mode_manual) {
-        set_servos_controlled();
+        set_throttle();
         set_takeoff_expected();
     }