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Plane: don't relax attitude controllers for tailsitters

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this fixes an issue with testing control movement when disarmed
This commit is contained in:
Andrew Tridgell 2018-08-17 09:59:41 +10:00
parent 3d9126ec4a
commit c081ce9adb
1 changed files with 7 additions and 1 deletions
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8
ArduPlane/quadplane.cpp
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@ -1421,7 +1421,13 @@ void QuadPlane::update(void)
/*
make sure we don't have any residual control from previous flight stages
*/
attitude_control->relax_attitude_controllers();
if (is_tailsitter()) {
// tailsitters only relax I terms, to make ground testing easier
attitude_control->reset_rate_controller_I_terms();
} else {
// otherwise full relax
attitude_control->relax_attitude_controllers();
}
pos_control->relax_alt_hold_controllers(0);
}