mirror of https://github.com/ArduPilot/ardupilot
Plane: ensure we init z controller when inactive
this prevents us getting the AC_PosControl internal error, which is turning up as a common false positive.
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@ -963,7 +963,7 @@ void QuadPlane::run_z_controller(void)
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// never run Z controller in tailsitter transtion
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return;
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}
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if ((now - last_pidz_active_ms) > 20) {
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if ((now - last_pidz_active_ms) > 20 || !pos_control->is_active_z()) {
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// set vertical speed and acceleration limits
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pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_velocity_z_max_up, pilot_accel_z);
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