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Update LAND mode documentation for throttle behavior #7702

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Hwurzburg merged 1 commit into from
Apr 24, 2026
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Update LAND mode documentation for throttle behavior #7702

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2 changes: 1 addition & 1 deletion copter/source/docs/land-mode.rst
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Expand Up @@ -8,7 +8,7 @@ LAND Mode attempts to bring the copter straight down and has these
features:

- descends at :ref:`LAND_SPD_HIGH_MS<LAND_SPD_HIGH_MS>`, if non-zero, (or :ref:`WP_SPD_DN <WP_SPD_DN>` if zero) using the regular Altitude Hold controller.
- the pilot can reposition the vehicle using the pitch and roll sticks unless the :ref:`LAND_REPOSITION <LAND_REPOSITION>` parameter is changed to "0". The throttle stick has no effect.
- the pilot can reposition the vehicle using the pitch and roll sticks unless the :ref:`LAND_REPOSITION <LAND_REPOSITION>` parameter is changed to "0". The throttle stick has no effect by default, although high throttle can cancel landing if enabled via :ref:`PILOT_THR_BHV<PILOT_THR_BHV>`.
- if a rangefinder is being used, or :ref:`TERRAIN_ENABLE<TERRAIN_ENABLE>` =1 and terrain data is available, the descent speed will then switch to :ref:`LAND_SPD_MS<LAND_SPD_MS>` at :ref:`LAND_ALT_LOW_M<LAND_ALT_LOW_M>` altitude (default is 10m) above ground until landing occurs. If neither terrain data or rangefinder data is available, then altitude above HOME will be used for the speed switch point (if reached).

.. image:: ../images/Land_DescentSpeed1.png
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