From 0f4eb8e766fdc367692b56a995008a1781963bfd Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis@yuneecresearch.com>
Date: Fri, 23 Mar 2018 16:43:55 +0100
Subject: [PATCH] PositionControl: add integral reset methods

---
 src/modules/mc_pos_control/PositionControl.hpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/modules/mc_pos_control/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl.hpp
index cb26b525e2..7d40f9dbe9 100644
--- a/src/modules/mc_pos_control/PositionControl.hpp
+++ b/src/modules/mc_pos_control/PositionControl.hpp
@@ -68,6 +68,8 @@ public:
 	void updateSetpoint(const vehicle_local_position_setpoint_s &setpoint);
 	void updateConstraints(const Controller::Constraints &constraints);
 	void generateThrustYawSetpoint(const float &dt);
+	void resetIntegralXY() {_thr_int(0) = _thr_int(1) = 0.0f;};
+	void resetIntegralZ() {_thr_int(2) = 0.0f;};
 
 	matrix::Vector3f getThrustSetpoint() {return _thr_sp;}
 	float getYawSetpoint() { return _yaw_sp;}