From 47d5de353dca840bd59ecf02abbc8719e9d704eb Mon Sep 17 00:00:00 2001
From: dheideman <dheideman@socal.rr.com>
Date: Mon, 30 Oct 2017 13:07:58 -0700
Subject: [PATCH] Sub: Set neutral controls when switching to manual/acro mode

---
 ArduSub/control_acro.cpp   | 4 ++++
 ArduSub/control_manual.cpp | 4 ++++
 2 files changed, 8 insertions(+)

diff --git a/ArduSub/control_acro.cpp b/ArduSub/control_acro.cpp
index ca7826428e..63b01d78ca 100644
--- a/ArduSub/control_acro.cpp
+++ b/ArduSub/control_acro.cpp
@@ -11,6 +11,10 @@ bool Sub::acro_init()
     // set target altitude to zero for reporting
     pos_control.set_alt_target(0);
 
+    // attitude hold inputs become thrust inputs in acro mode
+    // set to neutral to prevent chaotic behavior (esp. roll/pitch)
+    set_neutral_controls();
+
     return true;
 }
 
diff --git a/ArduSub/control_manual.cpp b/ArduSub/control_manual.cpp
index 75a39a506f..d7bc79d279 100644
--- a/ArduSub/control_manual.cpp
+++ b/ArduSub/control_manual.cpp
@@ -6,6 +6,10 @@ bool Sub::manual_init()
     // set target altitude to zero for reporting
     pos_control.set_alt_target(0);
 
+    // attitude hold inputs become thrust inputs in manual mode
+    // set to neutral to prevent chaotic behavior (esp. roll/pitch)
+    set_neutral_controls();
+
     return true;
 }