AR_AttitudeControl: reset turn-rate I term if not run for 0.2sec

2018-06-01 10:24:50 +09:00 · 2018-06-01 10:24:50 +09:00 · 67475a9eaa
parent 99cf279dff
commit 67475a9eaa
1 changed files with 1 additions and 0 deletions
--- a/libraries/APM_Control/AR_AttitudeControl.cpp
+++ b/libraries/APM_Control/AR_AttitudeControl.cpp
@ -238,6 +238,7 @@ float AR_AttitudeControl::get_steering_out_rate(float desired_rate, bool motor_l
    const uint32_t now = AP_HAL::millis();
    if ((_steer_turn_last_ms == 0) || ((now - _steer_turn_last_ms) > AR_ATTCONTROL_TIMEOUT_MS)) {
        _steer_rate_pid.reset_filter();
+        _steer_rate_pid.reset_I();
        _desired_turn_rate = _ahrs.get_yaw_rate_earth();
    }
    _steer_turn_last_ms = now;