A rotorcraft having a plurality of wheels, each wheel configured to receive weight of the rotorcraft when in contact with a landing surface, a plurality of wheel sensors, each wheel sensor associated with a respective wheel and having circuitry configured to generate a wheel on ground (WOG) signal indicating that the respective wheel is in contact with the landing surface, and a flight control computer (FCC) in signal communication with the plurality of wheel sensors, the FCC operable to execute a first hold loop having a first integrator and providing first control augmentation of a rotorcraft flight system, the FCC further operable to freeze the first integrator according to a number of WOG signals received from the plurality of wheel sensors, the FCC further operable to generate a first control signal according to a first value provided by the first integrator while the first integrator is frozen.