mirror of https://github.com/ArduPilot/ardupilot
Plane: relax controllers when disarmed
this prevents any remaining integrator from a previous flight stage from affecting flight across a disarm
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@ -1376,6 +1376,15 @@ void QuadPlane::update(void)
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return;
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return;
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}
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}
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if (!hal.util->get_soft_armed()) {
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/*
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make sure we don't have any residual control from previous flight stages
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*/
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attitude_control->relax_attitude_controllers();
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attitude_control->reset_rate_controller_I_terms();
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pos_control->relax_alt_hold_controllers(0);
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}
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check_yaw_reset();
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check_yaw_reset();
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if (!in_vtol_mode()) {
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if (!in_vtol_mode()) {
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