From 9d98244730cdadf5b1eb8401efd5e641e4099b9b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 3 Sep 2023 07:42:22 +1000
Subject: [PATCH] Plane: fixed nav_roll/nav_pitch when waiting for VTOL takeoff

the nav_roll_cd and nav_pitch_cd were not being set in the VTOL
takeoff code when disarmed. This led to small increments accumulating
in the stick mixing code, leading to large control surface movements
before arming
---
 ArduPlane/quadplane.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 5a8a895f1e..c88529fc27 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -2946,6 +2946,10 @@ void QuadPlane::setup_target_position(void)
  */
 void QuadPlane::takeoff_controller(void)
 {
+    // reset fixed wing controller to neutral as base output
+    plane.nav_roll_cd = 0;
+    plane.nav_pitch_cd = 0;
+
     if (!plane.arming.is_armed_and_safety_off()) {
         return;
     }
@@ -3007,8 +3011,6 @@ void QuadPlane::takeoff_controller(void)
     takeoff_last_run_ms = now;
 
     if (no_navigation) {
-        plane.nav_roll_cd = 0;
-        plane.nav_pitch_cd = 0;
         pos_control->relax_velocity_controller_xy();
     } else {
         pos_control->set_accel_desired_xy_cmss(zero);