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Plane: fixed nav_roll/nav_pitch when waiting for VTOL takeoff 

the nav_roll_cd and nav_pitch_cd were not being set in the VTOL
takeoff code when disarmed. This led to small increments accumulating
in the stick mixing code, leading to large control surface movements
before arming
This commit is contained in:
Andrew Tridgell 2023-09-03 07:42:22 +10:00 committed by Randy Mackay
parent 0eff0bb576
commit 5b61793b33
1 changed files with 4 additions and 2 deletions
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6
ArduPlane/quadplane.cpp
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@ -2946,6 +2946,10 @@ void QuadPlane::setup_target_position(void)
*/ */
void QuadPlane::takeoff_controller(void) void QuadPlane::takeoff_controller(void)
{ {
// reset fixed wing controller to neutral as base output
plane.nav_roll_cd = 0;
plane.nav_pitch_cd = 0;
if (!plane.arming.is_armed_and_safety_off()) { if (!plane.arming.is_armed_and_safety_off()) {
return; return;
} }
@ -3007,8 +3011,6 @@ void QuadPlane::takeoff_controller(void)
takeoff_last_run_ms = now; takeoff_last_run_ms = now;
if (no_navigation) { if (no_navigation) {
plane.nav_roll_cd = 0;
plane.nav_pitch_cd = 0;
pos_control->relax_velocity_controller_xy(); pos_control->relax_velocity_controller_xy();
} else { } else {
pos_control->set_accel_desired_xy_cmss(zero); pos_control->set_accel_desired_xy_cmss(zero);