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QuadPlane: Remove repeat I term reset

This commit is contained in:
Leonard Hall 2018-09-14 22:44:08 +09:30 committed by Andrew Tridgell
parent bf21a0153c
commit 9a3ed31040
1 changed files with 0 additions and 2 deletions
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2
ArduPlane/quadplane.cpp
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@ -782,7 +782,6 @@ void QuadPlane::check_attitude_relax(void)
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
if (now - last_att_control_ms > 500) { if (now - last_att_control_ms > 500) {
attitude_control->relax_attitude_controllers(); attitude_control->relax_attitude_controllers();
attitude_control->reset_rate_controller_I_terms();
} }
last_att_control_ms = now; 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 make sure we don't have any residual control from previous flight stages
*/ */
attitude_control->relax_attitude_controllers(); attitude_control->relax_attitude_controllers();
attitude_control->reset_rate_controller_I_terms();
pos_control->relax_alt_hold_controllers(0); pos_control->relax_alt_hold_controllers(0);
} }