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Plane: quadplane: never reset yaw target rates when entering QPOS1

This commit is contained in:
Iampete1 2022-02-14 00:32:27 +00:00 committed by Andrew Tridgell
parent 50c7576506
commit 267583db55
1 changed files with 3 additions and 1 deletions
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4
ArduPlane/quadplane.cpp
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@ -2145,7 +2145,9 @@ void QuadPlane::PosControlState::set_state(enum position_control_state s)
// handle resets needed for when the state changes
if (s == QPOS_POSITION1) {
reached_wp_speed = false;
qp.attitude_control->reset_yaw_target_and_rate();
// never do a rate reset, if attitude control is not active it will be automaticaly reset before running, see: last_att_control_ms
// if it is active then the rate control should not be reset at all
qp.attitude_control->reset_yaw_target_and_rate(false);
pos1_start_speed = plane.ahrs.groundspeed_vector().length();
} else if (s == QPOS_POSITION2) {
// POSITION2 changes target speed, so we need to change it