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Copter: autotune relaxes alt controller when landed

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This commit is contained in:
Randy Mackay 2015-06-10 20:04:40 +09:00
parent 1bd6728e21
commit 58505d8242
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/control_autotune.cpp
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@ -293,7 +293,7 @@ void Copter::autotune_run()
if (ap.land_complete) {
// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(channel_throttle->control_in),true,g.throttle_filt);
pos_control.set_alt_target_to_current_alt();
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
}else{
// check if pilot is overriding the controls
if (!is_zero(target_roll) || !is_zero(target_pitch) || !is_zero(target_yaw_rate) || !is_zero(target_climb_rate)) {