From c47bc995d1d0b28632b3b011c377ec3346992db9 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Sat, 21 Aug 2021 00:54:24 +0100 Subject: [PATCH] AC_PosControl: init_z_controller_stopping_point: remove duplicate set_integrator --- libraries/AC_AttitudeControl/AC_PosControl.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp index 0c7d649a70..d0884fd12e 100644 --- a/libraries/AC_AttitudeControl/AC_PosControl.cpp +++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp @@ -765,9 +765,6 @@ void AC_PosControl::init_z_controller_stopping_point() get_stopping_point_z_cm(_pos_target.z); _vel_target.z = 0.0f; - - // Set accel PID I term based on the current throttle - _pid_accel_z.set_integrator((_attitude_control.get_throttle_in() - _motors.get_throttle_hover()) * 1000.0f); } // relax_z_controller - initialise the position controller to the current position and velocity with decaying acceleration.