diff --git a/lib/stabilize_rocket.ks b/lib/stabilize_rocket.ks
index b9e0c88..d8dcf4a 100644
--- a/lib/stabilize_rocket.ks
+++ b/lib/stabilize_rocket.ks
@@ -11,16 +11,20 @@ runoncepath("/lib/sensors").
 function Land {
   set done to false.
 
+  assumeControl().
   alignForHover().
-  local pid is hoverPID().
+  local pid is PIDLoop(0.1, 0.01, 0.01, 0, 1).
+  
   lock THROTTLE to pid:Update(TIME:SECONDS, SHIP:VERTICALSPEED).
+  local targetVel is 0.
+  lock targetVel to Ceiling((-1 * (SHIP:ALTITUDE - SHIP:GEOPOSITION:TERRAINHEIGHT) / 10) - 5).
   until done or SHIP:STATUS = "LANDED" {
-    set pid:SETPOINT to (-1 * (SHIP:ALTITUDE - SHIP:GEOPOSITION:TERRAINHEIGHT) / 10) - 5.
+    set pid:SETPOINT to targetVel.
     wait 0.001.
   }
-  
+
+  restoreControl().
   set SHIP:CONTROL:PILOTMAINTHROTTLE to 0.0.
-  set done to false.
 }
 
 // Stabilizes a rocket relative to the surface, with optional vertical
@@ -28,24 +32,15 @@ function Land {
 function Hover {
   parameter vertSpeed is 0.0.
 
-  set done to false.
-  SAS off.
-  lock THROTTLE to 0.0.
-
+  assumeControl().
   alignForHover().
-  local throttlePID is hoverPID(vertSpeed).
+  local throttlePID is PIDLoop(0.1, 0.1, 0.001, 0, 1).
+  set throttlePID:SETPOINT to vertSpeed.
   lock THROTTLE to throttlePID:Update(TIME:SECONDS, SHIP:VERTICALSPEED).
   wait until done.
 
   // Unwind everything.
-  restoreControls().
-}
-
-function hoverPID {
-  parameter initSetpoint is 0.
-  local pid is PIDLoop(0.01, 0.01, 0.001, 0, 1).
-  set pid:SETPOINT to initSetpoint.
-  return pid.
+  restoreControl().
 }
 
 function alignForHover {
@@ -70,7 +65,13 @@ function alignForHover {
   }
 }
 
-function restoreControls {
+function assumeControl {
+  set done to false.
+  SAS off.
+  lock THROTTLE to 0.0.
+}
+
+function restoreControl {
   set SHIP:CONTROL:PILOTMAINTHROTTLE to THROTTLE.
   unlock THROTTLE.
   unlock STEERING.