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Plane: Quadplane: remove outdated Z controller reset

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Iampete1 2021-04-04 20:48:00 +01:00 committed by Andrew Tridgell
parent dcb90c7bdb
commit 75dc0ced10
1 changed files with 1 additions and 9 deletions
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10
ArduPlane/quadplane.cpp
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@ -1068,19 +1068,11 @@ void QuadPlane::run_z_controller(void)
// initialize vertical speeds and leash lengths // initialize vertical speeds and leash lengths
pos_control->set_max_speed_z(-get_pilot_velocity_z_max_dn(), pilot_velocity_z_max_up); pos_control->set_max_speed_z(-get_pilot_velocity_z_max_dn(), pilot_velocity_z_max_up);
pos_control->set_max_accel_z(pilot_accel_z); pos_control->set_max_accel_z(pilot_accel_z);
// it has been two seconds since we last ran the Z
// controller. We need to assume the integrator may be way off
// the base throttle we start at is the current throttle we are using
// note that AC_PosControl::run_z_controller() adds the Z pid (_pid_accel_z) output to _motors.get_throttle_hover()
float base_throttle = constrain_float(motors->get_throttle() - motors->get_throttle_hover(), -1, 1) * 1000;
pos_control->get_accel_z_pid().set_integrator(base_throttle);
last_pidz_init_ms = now; last_pidz_init_ms = now;
} }
last_pidz_active_ms = now; last_pidz_active_ms = now;
pos_control->update_z_controller(); pos_control->update_z_controller();
} }
void QuadPlane::relax_attitude_control() void QuadPlane::relax_attitude_control()