From 779eb8d7729c0b575e965a41989e0f571fc8b0be Mon Sep 17 00:00:00 2001
From: Corvus Corax <corvuscorax@cybertrench.com>
Date: Tue, 19 Aug 2014 23:14:46 +0200
Subject: [PATCH] OP-1156 placed Werners positionhold speed offset back in
 place

---
 flight/libraries/plans.c | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/flight/libraries/plans.c b/flight/libraries/plans.c
index 0faac2a2a..2d009f9ea 100644
--- a/flight/libraries/plans.c
+++ b/flight/libraries/plans.c
@@ -127,12 +127,15 @@ void plan_setup_returnToBase()
 static PiOSDeltatimeConfig landdT;
 void plan_setup_land()
 {
+    float descendspeed;
+
     plan_setup_positionHold();
 
+    FlightModeSettingsLandingVelocityGet(&descendspeed);
     PathDesiredData pathDesired;
     PathDesiredGet(&pathDesired);
-    pathDesired.StartingVelocity = 0.0f;
-    pathDesired.EndingVelocity   = 0.0f;
+    pathDesired.StartingVelocity = descendspeed;
+    pathDesired.EndingVelocity   = descendspeed;
     PathDesiredSet(&pathDesired);
     PIOS_DELTATIME_Init(&landdT, UPDATE_EXPECTED, UPDATE_MIN, UPDATE_MAX, UPDATE_ALPHA);
 }