Copter: poshold provides throttle feedback from mid-stick when landed

ArduCopter/control_poshold.cpp

@@ -184,16 +184,18 @@ void Copter::poshold_run()
 
     // if landed initialise loiter targets, set throttle to zero and exit
     if (ap.land_complete) {
-        // if throttle zero reset attitude and exit immediately
-        if (ap.throttle_zero) {
+        // set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
+        if (target_climb_rate < 0.0f) {
             motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
-        }else{
+        } else {
             motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
         }
         wp_nav.init_loiter_target();
-        // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
-        attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->get_control_in()),false,g.throttle_filt);
-        pos_control.relax_alt_hold_controllers(0.0f);
+        attitude_control.reset_rate_controller_I_terms();
+        attitude_control.set_yaw_target_to_current_heading();
+        attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain());
+        pos_control.relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
+        pos_control.update_z_controller();
         return;
     }else{
         // convert pilot input to lean angles