From 07ab04897df96268c82447fc7ca2a5d39f915182 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 18 Feb 2017 22:23:58 +1100
Subject: [PATCH] Plane: reset roll/pitch integrators while tailsitter active

this prevents integrator buildup while flying in hover
---
 ArduPlane/tailsitter.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/ArduPlane/tailsitter.cpp b/ArduPlane/tailsitter.cpp
index 55e113f891..6ad5638285 100644
--- a/ArduPlane/tailsitter.cpp
+++ b/ArduPlane/tailsitter.cpp
@@ -41,6 +41,8 @@ void QuadPlane::tailsitter_output(void)
 {
     if (tailsitter_active()) {
         motors_output();
+        plane.pitchController.reset_I();
+        plane.rollController.reset_I();
     }
 }