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AR_AttitudeControl: reset I if speed controller not called recently

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This commit is contained in:
Randy Mackay 2018-09-04 14:38:02 +09:00
parent 135e37e1f4
commit 96097586c3
1 changed files with 1 additions and 0 deletions
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libraries/APM_Control/AR_AttitudeControl.cpp
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@ -391,6 +391,7 @@ float AR_AttitudeControl::get_throttle_out_speed(float desired_speed, bool motor
const uint32_t now = AP_HAL::millis(); const uint32_t now = AP_HAL::millis();
if (!speed_control_active()) { if (!speed_control_active()) {
_throttle_speed_pid.reset_filter(); _throttle_speed_pid.reset_filter();
_throttle_speed_pid.reset_I();
_desired_speed = speed; _desired_speed = speed;
} }
_speed_last_ms = now; _speed_last_ms = now;