From 678fd8de1db7cf475b1c862a2f4b2744faea6403 Mon Sep 17 00:00:00 2001
From: Willian Galvani <williangalvani@gmail.com>
Date: Fri, 29 Nov 2019 15:31:50 -0300
Subject: [PATCH] AC_PosControl_Sub: do not reset accel_z integrator when
 relaxing

Doing so caused the ROV to dive and slowly go back to the altitude
setpoint
---
 libraries/AC_AttitudeControl/AC_PosControl_Sub.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/libraries/AC_AttitudeControl/AC_PosControl_Sub.cpp b/libraries/AC_AttitudeControl/AC_PosControl_Sub.cpp
index ef0a9a125f..06924fbd19 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl_Sub.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl_Sub.cpp
@@ -100,7 +100,6 @@ void AC_PosControl_Sub::relax_alt_hold_controllers()
     _accel_desired.z = 0.0f;
     _accel_last_z_cms = 0.0f;
     _flags.reset_rate_to_accel_z = true;
-    _pid_accel_z.set_integrator(-_motors.get_throttle_hover() * 1000.0f);
     _accel_target.z = -(_ahrs.get_accel_ef_blended().z + GRAVITY_MSS) * 100.0f;
     _pid_accel_z.reset_filter();
 }