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AR_AttitudeControl: reset speed filter and I term when stopped

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This commit is contained in:
Randy Mackay 2021-03-03 11:41:30 +09:00
parent f6231db618
commit f0ffaa5624
1 changed files with 5 additions and 0 deletions
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5
libraries/APM_Control/AR_AttitudeControl.cpp
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@ -634,6 +634,11 @@ float AR_AttitudeControl::get_throttle_out_stop(bool motor_limit_low, bool motor
_stop_last_ms = now;
// set last time speed controller was run so accelerations are limited
_speed_last_ms = now;
// reset filters and I-term
_throttle_speed_pid.reset_filter();
_throttle_speed_pid.reset_I();
// ensure desired speed is zero
_desired_speed = 0.0f;
return 0.0f;
}