How to slow down the adjustment in precision LAND mode?

ArduCopter
1

I used the companion computer’s precision landing on the UAV, but I found that the UAV adjusted so much that it lost its target once it adjusted （attitude <= 2m）, you know what I mean.What parameters should I tune?Or where to adjust the PID parameter used in Percision Land mode?Thank you for your help!

2

Here is the video
https://www.youtube.com/watch?v=F4dBnUn3EsQ

The downward-looking view
https://youtu.be/gI4O0n5MEyAhttps://youtu.be/gI4O0n5MEyA

Here is my param
040301.param (17.3 KB)

3

Here is today’s test. I use Precision Loiter mode but it adjustmnet too large . You can see is in this video clearly.https://www.youtube.com/watch?v=QsXXm4ECZ80