From b290148ed028374631e6e15f6a446ad4a5a5bc4c Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Thu, 21 Feb 2019 23:04:35 -0700
Subject: [PATCH] Plane: Don't overwrite the quadplane loiter relax

---
 ArduPlane/quadplane.cpp | 16 ++++++++--------
 ArduPlane/quadplane.h   |  2 +-
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 7ce40661f5..7f9c6b1a3b 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -895,7 +895,7 @@ void QuadPlane::init_loiter(void)
     last_loiter_ms = AP_HAL::millis();
 }
 
-void QuadPlane::init_land(void)
+void QuadPlane::init_qland(void)
 {
     init_loiter();
     throttle_wait = false;
@@ -1750,7 +1750,7 @@ bool QuadPlane::init_mode(void)
         init_loiter();
         break;
     case QLAND:
-        init_land();
+        init_qland();
         break;
     case QRTL:
         init_qrtl();
@@ -1877,7 +1877,7 @@ void QuadPlane::vtol_position_controller(void)
 
     case QPOS_POSITION1: {
         Vector2f diff_wp = location_diff(plane.current_loc, loc);
-        float distance = diff_wp.length();
+        const float distance = diff_wp.length();
 
         if (poscontrol.speed_scale <= 0) {
             // initialise scaling so we start off targeting our
@@ -1986,7 +1986,11 @@ void QuadPlane::vtol_position_controller(void)
         pos_control->set_desired_accel_xy(0.0f,0.0f);
 
         // set position control target and update
-        pos_control->set_xy_target(poscontrol.target.x, poscontrol.target.y);
+        if (should_relax()) {
+            loiter_nav->soften_for_landing();
+        } else {
+            pos_control->set_xy_target(poscontrol.target.x, poscontrol.target.y);
+        }
         pos_control->update_xy_controller();
 
         // nav roll and pitch are controller by position controller
@@ -2369,10 +2373,6 @@ bool QuadPlane::verify_vtol_land(void)
         plane.set_next_WP(plane.next_WP_loc);
     }
 
-    if (should_relax()) {
-        loiter_nav->soften_for_landing();
-    }
-
     // at land_final_alt begin final landing
     float height_above_ground = plane.relative_ground_altitude(plane.g.rangefinder_landing);
     if (poscontrol.state == QPOS_LAND_DESCEND && height_above_ground < land_final_alt) {
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index 8b2e9ba8ea..0e6464e809 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -200,7 +200,7 @@ private:
     void control_hover(void);
 
     void init_loiter(void);
-    void init_land(void);
+    void init_qland(void);
     void control_loiter(void);
     void check_land_complete(void);