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AC_WPNav: provide reset_I to init_xy_controller

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This commit is contained in:
Jonathan Challinger 2014-12-12 13:35:17 -08:00 committed by Randy Mackay
parent d6e455417f
commit 5438d38df5
1 changed files with 1 additions and 6 deletions
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7
libraries/AC_WPNav/AC_WPNav.cpp
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@ -120,13 +120,8 @@ AC_WPNav::AC_WPNav(const AP_InertialNav& inav, const AP_AHRS& ahrs, AC_PosContro
/// init_loiter_target in cm from home
void AC_WPNav::init_loiter_target(const Vector3f& position, bool reset_I)
{
// if reset_I is false we warn position controller not to reset I terms
if (!reset_I) {
_pos_control.keep_xy_I_terms();
}
// initialise position controller
_pos_control.init_xy_controller();
_pos_control.init_xy_controller(reset_I);
// initialise pos controller speed and acceleration
_pos_control.set_speed_xy(_loiter_speed_cms);