<short_desc>Altitude for 1. step of slow landing (descend)</short_desc>
<long_desc>Below this altitude descending velocity gets limited to a value between "MPC_Z_VEL_MAX" and "MPC_LAND_SPEED" to enable a smooth descent experience Value needs to be higher than "MPC_LAND_ALT2"</long_desc>
<long_desc>Below this altitude: - descending velocity gets limited to a value between "MPC_Z_VEL_MAX" and "MPC_LAND_SPEED" - horizontal velocity gets limited to a value between "MPC_VEL_MANUAL" and "MPC_LAND_VEL_XY" for a smooth descent and landing experience. Value needs to be higher than "MPC_LAND_ALT2"</long_desc>
<min>0</min>
<max>122</max>
<unit>m</unit>
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@@ -4701,7 +4701,7 @@ is 90 degrees. It should be lower than MPC_XY_CRUISE</short_desc>
<short_desc>Altitude for 2. step of slow landing (landing)</short_desc>
<long_desc>Below this altitude descending velocity gets limited to "MPC_LAND_SPEED" Value needs to be lower than "MPC_LAND_ALT1"</long_desc>
<long_desc>Below this altitude descending and horizontal velocities get limited to "MPC_LAND_SPEED" and "MPC_LAND_VEL_XY", respectively. Value needs to be lower than "MPC_LAND_ALT1"</long_desc>
<min>0</min>
<max>122</max>
<unit>m</unit>
...
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@@ -4713,6 +4713,13 @@ is 90 degrees. It should be lower than MPC_XY_CRUISE</short_desc>
<long_desc>Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. With MC_AIRMODE set to 1, this can safely be set to 0.</long_desc>