From 98c5704b928b5e43bbd8aef427befebbd8800e84 Mon Sep 17 00:00:00 2001
From: Peter Hall <iampete@hotmail.co.uk>
Date: Wed, 8 Sep 2021 18:49:36 +0100
Subject: [PATCH] AP_TECS: add reset throttle I function

---
 libraries/AP_TECS/AP_TECS.h | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_TECS/AP_TECS.h b/libraries/AP_TECS/AP_TECS.h
index 845a00b373..e47122c9d0 100644
--- a/libraries/AP_TECS/AP_TECS.h
+++ b/libraries/AP_TECS/AP_TECS.h
@@ -88,7 +88,12 @@ public:
     void reset_pitch_I(void) {
         _integSEB_state = 0.0f;
     }
-    
+
+    // reset throttle integrator
+    void reset_throttle_I(void) {
+        _integTHR_state = 0.0;
+    }
+
     // return landing sink rate
     float get_land_sinkrate(void) const {
         return _land_sink;