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Sub: Center throttle instead of zero-ing it in depth hold

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This was causing the vehicle to dive when the alt-hold was
disabled and subsequently enabled.
Probably because the filter was holding the throttle down.
This commit is contained in:
Willian Galvani 2019-12-09 19:21:07 -03:00 committed by Jacob Walser
parent deccd051a0
commit 2af2a1ed05
1 changed files with 1 additions and 1 deletions
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2
ArduSub/control_althold.cpp
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@ -85,7 +85,7 @@ void Sub::althold_run()
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when not auto-armed (i.e. on the ground, pilot has never raised throttle)
attitude_control.set_throttle_out(0,true,g.throttle_filt);
attitude_control.set_throttle_out(0.5 ,true, g.throttle_filt);
attitude_control.relax_attitude_controllers();
pos_control.relax_alt_hold_controllers();
last_roll = ahrs.roll_sensor;