From 470a60f8284aff59a462eff57179846ecf3c8f99 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 22 Aug 2019 20:07:43 +1000
Subject: [PATCH] Plane: reset steering in MANUAL or when not stabilising

---
 ArduPlane/Attitude.cpp | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/Attitude.cpp b/ArduPlane/Attitude.cpp
index febda075be..465eb61da6 100644
--- a/ArduPlane/Attitude.cpp
+++ b/ArduPlane/Attitude.cpp
@@ -363,7 +363,9 @@ void Plane::stabilize_acro(float speed_scaler)
 void Plane::stabilize()
 {
     if (control_mode == &mode_manual) {
-        // nothing to do
+        // reset steering controls
+        steer_state.locked_course = false;
+        steer_state.locked_course_err = 0;
         return;
     }
     float speed_scaler = get_speed_scaler();
@@ -384,6 +386,10 @@ void Plane::stabilize()
         rollController.reset_I();
         pitchController.reset_I();
         yawController.reset_I();
+
+        // and reset steering controls
+        steer_state.locked_course = false;
+        steer_state.locked_course_err = 0;
     }
     last_stabilize_ms = now;