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Plane: reset steering integrator on mode change and when not moving 

this prevents an old integrator from causing problems on takeoff
This commit is contained in:
Andrew Tridgell 2014-08-25 08:20:37 +10:00
parent e9a9e33280
commit daa32f9b62
2 changed files with 6 additions and 0 deletions
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5
ArduPlane/Attitude.pde
View File

@ -364,6 +364,11 @@ static void stabilize()
rollController.reset_I();
pitchController.reset_I();
yawController.reset_I();
// if moving very slowly also zero the steering integrator
if (gps.ground_speed() < 1) {
steerController.reset_I();
}
}
}

1
ArduPlane/system.pde
View File

@ -390,6 +390,7 @@ static void set_mode(enum FlightMode mode)
rollController.reset_I();
pitchController.reset_I();
yawController.reset_I();
steerController.reset_I();
}
// exit_mode - perform any cleanup required when leaving a flight mode