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AC_AttitudeControl: Use reset_rate_controller_I_terms() helper

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Michael du Breuil 2018-09-13 18:27:08 -07:00 committed by Randy Mackay
parent 3ab7fe348a
commit eb1f3b205f
1 changed files with 1 additions and 3 deletions
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4
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -170,9 +170,7 @@ void AC_AttitudeControl::relax_attitude_controllers()
// to the input angular velocity and reset the angular velocity integrators.
// This zeros the output of the angular velocity controller.
_rate_target_ang_vel = _ahrs.get_gyro();
get_rate_roll_pid().reset_I();
get_rate_pitch_pid().reset_I();
get_rate_yaw_pid().reset_I();
reset_rate_controller_I_terms();
}
void AC_AttitudeControl::reset_rate_controller_I_terms()