AC_AttitudeControl: relax_bf_rate_controller resets rate integrators

10 years ago · e2383581cc
1 changed files with 4 additions and 0 deletions
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@ -95,6 +95,10 @@ void AC_AttitudeControl::relax_bf_rate_controller()
				@@ -95,6 +95,10 @@ void AC_AttitudeControl::relax_bf_rate_controller()
    // ensure zero error in body frame rate controllers
    const Vector3f& gyro = _ahrs.get_gyro();
    _rate_bf_target = gyro * AC_ATTITUDE_CONTROL_DEGX100;
+
+    _pid_rate_roll.reset_I();
+    _pid_rate_pitch.reset_I();
+    _pid_rate_yaw.reset_I();
 }

 //