From 1abb43905148ec4dfa341440e05deda0544e204b Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 9 Sep 2013 10:54:13 +0900
Subject: [PATCH] Copter: move acro's var initialisation to roll-pitch and yaw
 controller initialisation

---
 ArduCopter/ArduCopter.pde | 10 ++++++++++
 ArduCopter/system.pde     |  4 ----
 2 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index f4741d5bbe..981cafd036 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1431,8 +1431,11 @@ bool set_yaw_mode(uint8_t new_yaw_mode)
 
     switch( new_yaw_mode ) {
         case YAW_HOLD:
+            yaw_initialised = true;
+            break;
         case YAW_ACRO:
             yaw_initialised = true;
+            acro_yaw_rate = 0;
             break;
         case YAW_LOOK_AT_NEXT_WP:
             if( ap.home_is_set ) {
@@ -1660,7 +1663,14 @@ bool set_roll_pitch_mode(uint8_t new_roll_pitch_mode)
 
     switch( new_roll_pitch_mode ) {
         case ROLL_PITCH_STABLE:
+            roll_pitch_initialised = true;
+            break;
         case ROLL_PITCH_ACRO:
+            // reset acro level rates
+            acro_roll_rate = 0;
+            acro_pitch_rate = 0;
+            roll_pitch_initialised = true;
+            break;
         case ROLL_PITCH_AUTO:
         case ROLL_PITCH_STABLE_OF:
         case ROLL_PITCH_TOY:
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index b959e75916..874e4648bf 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -360,10 +360,6 @@ static bool set_mode(uint8_t mode)
             set_roll_pitch_mode(ACRO_RP);
             set_throttle_mode(ACRO_THR);
             set_nav_mode(NAV_NONE);
-            // reset acro level rates
-            acro_roll_rate = 0;
-            acro_pitch_rate = 0;
-            acro_yaw_rate = 0;
             break;
 
         case STABILIZE: