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AC_PosControl: init_z_controller_stopping_point: remove duplicate set_integrator

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Iampete1 2021-08-21 00:54:24 +01:00 committed by Randy Mackay
parent 9a26509eee
commit c47bc995d1
1 changed files with 0 additions and 3 deletions
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3
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -765,9 +765,6 @@ void AC_PosControl::init_z_controller_stopping_point()
get_stopping_point_z_cm(_pos_target.z); get_stopping_point_z_cm(_pos_target.z);
_vel_target.z = 0.0f; _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. // relax_z_controller - initialise the position controller to the current position and velocity with decaying acceleration.