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Copter: reset integrators when landed in auto modes in any spool state

This commit is contained in:
Bill Geyer 2022-02-03 11:32:50 -05:00 committed by Randy Mackay
parent 2dcac32897
commit beca704c8f
1 changed files with 4 additions and 5 deletions
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9
ArduCopter/mode.cpp
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@ -464,16 +464,15 @@ void Mode::make_safe_ground_handling(bool force_throttle_unlimited)
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE); motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
} }
// aircraft is landed, integrator terms must be reset regardless of spool state
attitude_control->reset_rate_controller_I_terms_smoothly();
switch (motors->get_spool_state()) { switch (motors->get_spool_state()) {
case AP_Motors::SpoolState::SHUT_DOWN: case AP_Motors::SpoolState::SHUT_DOWN:
case AP_Motors::SpoolState::GROUND_IDLE: case AP_Motors::SpoolState::GROUND_IDLE:
// relax controllers during idle states // reset yaw targets and rates during idle states
attitude_control->reset_rate_controller_I_terms_smoothly();
attitude_control->reset_yaw_target_and_rate(); attitude_control->reset_yaw_target_and_rate();
break; break;
case AP_Motors::SpoolState::SPOOLING_UP: case AP_Motors::SpoolState::SPOOLING_UP:
case AP_Motors::SpoolState::THROTTLE_UNLIMITED: case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
case AP_Motors::SpoolState::SPOOLING_DOWN: case AP_Motors::SpoolState::SPOOLING_DOWN: