From ee3daaa7c906cab8139f04f885f8a2ec7e7f5b72 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 26 Oct 2017 14:58:10 +0900
Subject: [PATCH] AR_AttitudeControl: reset input filter for steering and
 throttle controllers

Also only set dt to non-zero value
---
 libraries/APM_Control/AR_AttitudeControl.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/libraries/APM_Control/AR_AttitudeControl.cpp b/libraries/APM_Control/AR_AttitudeControl.cpp
index 3e43ae3fc8..2ff38efc02 100644
--- a/libraries/APM_Control/AR_AttitudeControl.cpp
+++ b/libraries/APM_Control/AR_AttitudeControl.cpp
@@ -173,9 +173,11 @@ float AR_AttitudeControl::get_steering_out_rate(float desired_rate, bool skid_st
     float dt = (now - _steer_turn_last_ms) / 1000.0f;
     if (_steer_turn_last_ms == 0 || dt > 0.1) {
         dt = 0.0f;
+        _steer_rate_pid.reset_filter();
+    } else {
+        _steer_rate_pid.set_dt(dt);
     }
     _steer_turn_last_ms = now;
-    _steer_rate_pid.set_dt(dt);
 
     // get speed forward
     float speed;
@@ -252,6 +254,7 @@ float AR_AttitudeControl::get_throttle_out_speed(float desired_speed, bool skid_
     float dt = (now - _speed_last_ms) / 1000.0f;
     if (_speed_last_ms == 0 || dt > 0.1) {
         dt = 0.0f;
+        _throttle_speed_pid.reset_filter();
     }
     _speed_last_ms = now;