diydrones/ardupilot — pull request #1683 by priseborough (2014-12-13 20:33:12+00:00)
Title: AP_TECS: Fix bug causing plane to fly high on landing approach

The introduction of the height rate flare logic caused the demanded height rate to be zero except when a flare manouevre was being performed. This causes the plane to lag behind height changes if the D gain is non-zero, which causes it to fly high during landing approach.