From e4949bf3b0ff31885c84cf08488071a73c4ac07e Mon Sep 17 00:00:00 2001
From: Robert Lefebvre <robert.lefebvre@gmail.com>
Date: Sun, 5 Jan 2014 16:09:10 -0500
Subject: [PATCH] TradHeli: enable Landing Collective when we are not moving

This prevents full negative pitch when touching down in Alt Hold or Auto-Landing.
---
 ArduCopter/heli.pde | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/heli.pde b/ArduCopter/heli.pde
index b59a37375..5e1732faa 100644
--- a/ArduCopter/heli.pde
+++ b/ArduCopter/heli.pde
@@ -314,7 +314,7 @@ static void heli_update_landing_swash()
         case THROTTLE_AUTO:
         default:
             // auto and hold use limited swash when landed
-            motors.set_collective_for_landing(ap.land_complete || !ap.auto_armed);
+            motors.set_collective_for_landing(!heli_flags.dynamic_flight || ap.land_complete || !ap.auto_armed);
             break;
     }
 }
-- 
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