diydrones/ardupilot — pull request #603 by priseborough (2013-10-12 22:28:38+00:00)
Title: AP_TECS : Fade TECS speed weighting to zero during approach and landing

During flight_stage = FLIGHT_LAND_APPROACH the speed weighting parameter is faded to zero at a rate of 0.2/second. This improves height accuracy as the ground approaches and also prevents reductions in airspeed due to gusts and wind gradient from causing the nose being pushed down by TECS to maintain airspeed.

During flight_stage = FLIGHT_LAND_FINAL the speed weighting parameter is set to zero.