The land_init() initializes speed ramp variables. This function was only being called by LAND mode but not AUTO or RTL modes (which utilizes land controller methods). If the static variables are not set explicitly then the landing ramp is disabled. However, if they were set in a previous landing without power cycle and the EKF has reset, then the static variables set in land_init are stale and must be recalculated.
The land_init() initializes speed ramp variables. This function was only being called by LAND mode but not AUTO or RTL modes (which utilizes land controller methods). If the static variables are not set explicitly then the landing ramp is disabled. However, if they were set in a previous landing without power cycle and the EKF has reset, then the static variables set in land_init are stale and must be recalculated.