AC_PosControl: bugfix for freezing I-term build-up

11 years ago · 09a35cf90f
1 changed files with 1 additions and 1 deletions
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@ -618,7 +618,7 @@ void AC_PosControl::rate_to_accel_xy(float dt)
				@@ -618,7 +618,7 @@ void AC_PosControl::rate_to_accel_xy(float dt)
        lat_i = _pid_rate_lat.get_i(_vel_error.x, dt);
    }
    if ((!_limit.accel_xy && !_motors.limit.throttle_upper) || ((lon_i>0&&_vel_error.y<0)||(lon_i<0&&_vel_error.y>0))) {
-        lon_i = _pid_rate_lat.get_i(_vel_error.y, dt);
+        lon_i = _pid_rate_lon.get_i(_vel_error.y, dt);
    }

    // combine feed forward accel with PID output from velocity error