From 588d551098bd238d26f49f2c74bb4676ba64eda4 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Thu, 4 Jun 2020 09:44:23 +0200
Subject: [PATCH] mc_pos_control_params: set the ground slow down speed to the
 default maximum speed

This results in no change with defaults but a slow down to 10m/s if the maxiumum speed is set higher than that.
---
 src/modules/mc_pos_control/mc_pos_control_params.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index 6654d1b0c5..101e531268 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -347,7 +347,7 @@ PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.0f);
 PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.7f);
 
 /**
- * Maximum horizontal velocity during landing
+ * Maximum horizontal position mode velocity when close to ground/home altitude
  * Set the value higher than the otherwise expected maximum to disable any slowdown.
  *
  * @unit m/s
@@ -355,7 +355,7 @@ PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.7f);
  * @decimal 1
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_LAND_VEL_XY, 2.f);
+PARAM_DEFINE_FLOAT(MPC_LAND_VEL_XY, 10.0f);
 
 /**
  * Enable user assisted descent speed for autonomous land routine.