mirror of https://github.com/ArduPilot/ardupilot
Plane: reset attitude integrators on mode change
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@ -375,6 +375,11 @@ static void set_mode(enum FlightMode mode)
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if (g.log_bitmask & MASK_LOG_MODE)
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Log_Write_Mode(control_mode);
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// reset attitude integrators on mode change
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g.rollController.reset_I();
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g.pitchController.reset_I();
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g.yawController.reset_I();
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}
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static void check_long_failsafe()
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