From 9a3ed310402e473bf2f5e5885c507ed0a4c918a6 Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Fri, 14 Sep 2018 22:44:08 +0930
Subject: [PATCH] QuadPlane: Remove repeat I term reset

---
 ArduPlane/quadplane.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index e75bd4b96f..95e6b6a85a 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -782,7 +782,6 @@ void QuadPlane::check_attitude_relax(void)
     uint32_t now = AP_HAL::millis();
     if (now - last_att_control_ms > 500) {
         attitude_control->relax_attitude_controllers();
-        attitude_control->reset_rate_controller_I_terms();
     }
     last_att_control_ms = now;
 }
@@ -1417,7 +1416,6 @@ void QuadPlane::update(void)
           make sure we don't have any residual control from previous flight stages
          */
         attitude_control->relax_attitude_controllers();
-        attitude_control->reset_rate_controller_I_terms();
         pos_control->relax_alt_hold_controllers(0);
     }