From 958748f8cf284aa59d35a1249b58745029e50338 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sun, 22 Aug 2021 00:13:09 +0100
Subject: [PATCH] Plane: tailsitter: reset FW yaw I allong with roll and pitch
 when in assist

---
 ArduPlane/tailsitter.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/tailsitter.cpp b/ArduPlane/tailsitter.cpp
index 12fed63a6a..42a5e790a9 100644
--- a/ArduPlane/tailsitter.cpp
+++ b/ArduPlane/tailsitter.cpp
@@ -334,9 +334,10 @@ void Tailsitter::output(void)
         quadplane.motors_output(false);
     }
 
-    // In full Q assist it is better to use cotper I and zero plane
+    // In full Q assist it is better to use copter I and zero plane
     plane.pitchController.reset_I();
     plane.rollController.reset_I();
+    plane.yawController.reset_I();
 
     // pull in copter control outputs
     SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, (motors->get_yaw()+motors->get_yaw_ff())*-SERVO_MAX);