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Plane: reset TECS at end of auto VTOL takeoff

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This commit is contained in:
Andrew Tridgell 2020-02-06 15:44:26 +11:00
parent 2a03144fdb
commit 7a14992cce
1 changed files with 7 additions and 0 deletions
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7
ArduPlane/quadplane.cpp
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@ -2672,6 +2672,13 @@ bool QuadPlane::verify_vtol_takeoff(const AP_Mission::Mission_Command &cmd)
set_alt_target_current();
plane.complete_auto_takeoff();
if (plane.control_mode == &plane.mode_auto) {
// we reset TECS so that the target height filter is not
// constrained by the climb and sink rates from the initial
// takeoff height.
plane.SpdHgt_Controller->reset();
}
return true;
}