From 5438d38df566d2e8f0a3d452817839c5aec3ed7d Mon Sep 17 00:00:00 2001 From: Jonathan Challinger Date: Fri, 12 Dec 2014 13:35:17 -0800 Subject: [PATCH] AC_WPNav: provide reset_I to init_xy_controller --- libraries/AC_WPNav/AC_WPNav.cpp | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp index d8425601dc..4b67457bdb 100644 --- a/libraries/AC_WPNav/AC_WPNav.cpp +++ b/libraries/AC_WPNav/AC_WPNav.cpp @@ -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);