If the case is withdrawn from court and in that the affidavit is submitted along with the consent of his legal heir than that will help to seize his right in property and same is mentioned in the order of Civil suit.
The property seem to be ancestral so the legal heirs of that person can also claim in that property so there right should also be taken care.
Also a registered deed is always best option to put end to the all kind of future litigation in respect of that property.