From 3638bfb614e39f06f608c7eb6e6901dceb3f35d9 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 21 Oct 2014 11:32:20 +0900
Subject: [PATCH] AC_PosControl: bug fix dt calculation

fixes issue in which now could be earlier than _last_update_xy_ms
leading to a large dt value and a sudden lean on takeoff
---
 libraries/AC_AttitudeControl/AC_PosControl.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp
index cb10749842..37714efaac 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -551,6 +551,7 @@ void AC_PosControl::update_xy_controller(bool use_desired_velocity)
     uint32_t now = hal.scheduler->millis();
     if ((now - _last_update_xy_ms) >= POSCONTROL_ACTIVE_TIMEOUT_MS) {
         init_xy_controller();
+        now = _last_update_xy_ms;
     }
 
     // check if xy leash needs to be recalculated