AP_L1_Control: update_waypoint zeros xtrack i term on init

2017-11-01 10:58:48 +09:00 · 2017-11-01 10:58:48 +09:00 · 002d3f08f6
commit 002d3f08f6
parent eab1d3af4f
1 changed files with 1 additions and 0 deletions
--- a/libraries/AP_L1_Control/AP_L1_Control.cpp
+++ b/libraries/AP_L1_Control/AP_L1_Control.cpp
@ -207,6 +207,7 @@ void AP_L1_Control::update_waypoint(const struct Location &prev_WP, const struct
    float dt = (now - _last_update_waypoint_us) * 1.0e-6f;
    if (dt > 0.1) {
        dt = 0.1;
+        _L1_xtrack_i = 0.0f;
    }
    _last_update_waypoint_us = now;