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Plane: reset sysid and other temporary inputs after rate cycle

This commit is contained in:
Andy Piper 2024-08-15 10:22:29 +01:00 committed by Peter Barker
parent c67601b19f
commit 79bae8fd1b
1 changed files with 2 additions and 0 deletions
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2
ArduPlane/quadplane.cpp
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@ -1968,6 +1968,8 @@ void QuadPlane::motors_output(bool run_rate_controller)
attitude_control->set_dt(last_loop_time_s); attitude_control->set_dt(last_loop_time_s);
pos_control->set_dt(last_loop_time_s); pos_control->set_dt(last_loop_time_s);
attitude_control->rate_controller_run(); attitude_control->rate_controller_run();
// reset sysid and other temporary inputs
attitude_control->rate_controller_target_reset();
last_att_control_ms = now; last_att_control_ms = now;
} }