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AC_AttitudeControl: relax_bf_rate_controller resets rate integrators

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Jonathan Challinger 2015-02-26 15:52:04 -08:00 committed by Randy Mackay
parent 3ad9b1a06b
commit e2383581cc
1 changed files with 4 additions and 0 deletions
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4
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -95,6 +95,10 @@ void AC_AttitudeControl::relax_bf_rate_controller()
// ensure zero error in body frame rate controllers // ensure zero error in body frame rate controllers
const Vector3f& gyro = _ahrs.get_gyro(); const Vector3f& gyro = _ahrs.get_gyro();
_rate_bf_target = gyro * AC_ATTITUDE_CONTROL_DEGX100; _rate_bf_target = gyro * AC_ATTITUDE_CONTROL_DEGX100;
_pid_rate_roll.reset_I();
_pid_rate_pitch.reset_I();
_pid_rate_yaw.reset_I();
} }
// //