AC_AttControl: add reset_rate_controller_I_terms()

libraries/AC_AttitudeControl/AC_AttitudeControl.cpp

@@ -126,6 +126,13 @@ void AC_AttitudeControl::relax_attitude_controllers()
     get_rate_yaw_pid().reset_I();
 }
 
+void AC_AttitudeControl::reset_rate_controller_I_terms()
+{
+    get_rate_roll_pid().reset_I();
+    get_rate_pitch_pid().reset_I();
+    get_rate_yaw_pid().reset_I();
+}
+
 // The attitude controller works around the concept of the desired attitude, target attitude
 // and measured attitude. The desired attitude is the attitude input into the attitude controller
 // that expresses where the higher level code would like the aircraft to move to. The target attitude is moved

libraries/AC_AttitudeControl/AC_AttitudeControl.h

@@ -104,6 +104,9 @@ public:
     // Ensure attitude controller have zero errors to relax rate controller output
     void relax_attitude_controllers();
 
+    // reset rate controller I terms
+    void reset_rate_controller_I_terms();
+
     // Sets yaw target to vehicle heading
     void set_yaw_target_to_current_heading() { _attitude_target_euler_angle.z = _ahrs.yaw; }