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AC_AttControl: relax earth frame rate targets along with bf

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This commit is contained in:
Randy Mackay 2015-07-27 16:37:10 +09:00
parent f46e2c2c36
commit 77b97f8643
1 changed files with 1 additions and 0 deletions
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libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -80,6 +80,7 @@ void AC_AttitudeControl::relax_bf_rate_controller()
// ensure zero error in body frame rate controllers
const Vector3f& gyro = _ahrs.get_gyro();
_rate_bf_target = gyro * AC_ATTITUDE_CONTROL_DEGX100;
frame_conversion_bf_to_ef(_rate_bf_target, _rate_ef_desired);
_pid_rate_roll.reset_I();
_pid_rate_pitch.reset_I();