From fd9b16e787fdac62e42679909e5e1aee9691a104 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@gmail.com>
Date: Tue, 1 Nov 2011 09:27:49 -0700
Subject: [PATCH] resetting alt hold I

---
 ArduCopter/system.pde | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 2f7d46e5fe..c4b6573378 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -512,6 +512,7 @@ init_throttle_cruise()
 	// are we moving from manual throttle to auto_throttle?
 	if((old_control_mode <= STABILIZE) && (g.rc_3.control_in > MINIMUM_THROTTLE)){
 		g.pi_throttle.reset_I();
+		g.pi_alt_hold.reset_I();
 		#if FRAME_CONFIG == HELI_FRAME
 		    g.throttle_cruise.set_and_save(heli_get_scaled_throttle(g.rc_3.control_in));
 		#else