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Plane: tailsitter: reset FW yaw I allong with roll and pitch when in assist

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Iampete1 2021-08-22 00:13:09 +01:00 committed by Andrew Tridgell
parent 6aa8319b90
commit 958748f8cf
1 changed files with 2 additions and 1 deletions
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3
ArduPlane/tailsitter.cpp
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@ -334,9 +334,10 @@ void Tailsitter::output(void)
quadplane.motors_output(false);
}
// In full Q assist it is better to use cotper I and zero plane
// In full Q assist it is better to use copter I and zero plane
plane.pitchController.reset_I();
plane.rollController.reset_I();
plane.yawController.reset_I();
// pull in copter control outputs
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, (motors->get_yaw()+motors->get_yaw_ff())*-SERVO_MAX);