From 57f98db7cebb997a4a3899fb24b7b72205a97a07 Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Mon, 16 May 2011 06:23:21 +0000
Subject: [PATCH] added nav_WP I term reset at WP. Would like to consider
 scaling it with a trig function to keep continuity during nav.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2336 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/commands_process.pde | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/ArduCopterMega/commands_process.pde b/ArduCopterMega/commands_process.pde
index 440d5fc09c..ed468c2221 100644
--- a/ArduCopterMega/commands_process.pde
+++ b/ArduCopterMega/commands_process.pde
@@ -119,6 +119,9 @@ void verify_commands(void)
 	if(verify_must()){
 		Serial.printf("verified must cmd %d\n" , command_must_index);
 		command_must_index 	= NO_COMMAND;
+		// reset rate controlled nav
+		g.pid_nav_wp.reset_I();
+
 	}else{
 		Serial.printf("verified must false %d\n" , command_must_index);
 	}