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Plane: reset steering in MANUAL or when not stabilising

This commit is contained in:
Andrew Tridgell 2019-08-22 20:07:43 +10:00
parent 48f52655c1
commit 470a60f828
1 changed files with 7 additions and 1 deletions
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8
ArduPlane/Attitude.cpp
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@ -363,7 +363,9 @@ void Plane::stabilize_acro(float speed_scaler)
void Plane::stabilize()
{
if (control_mode == &mode_manual) {
// nothing to do
// reset steering controls
steer_state.locked_course = false;
steer_state.locked_course_err = 0;
return;
}
float speed_scaler = get_speed_scaler();
@ -384,6 +386,10 @@ void Plane::stabilize()
rollController.reset_I();
pitchController.reset_I();
yawController.reset_I();
// and reset steering controls
steer_state.locked_course = false;
steer_state.locked_course_err = 0;
}
last_stabilize_ms = now;