From c081ce9adb10f1a2c5445906532b408e8a3072e5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 17 Aug 2018 09:59:41 +1000
Subject: [PATCH] Plane: don't relax attitude controllers for tailsitters

this fixes an issue with testing control movement when disarmed
---
 ArduPlane/quadplane.cpp | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index f584fbf3ee..28189b3365 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1421,7 +1421,13 @@ void QuadPlane::update(void)
         /*
           make sure we don't have any residual control from previous flight stages
          */
-        attitude_control->relax_attitude_controllers();
+        if (is_tailsitter()) {
+            // tailsitters only relax I terms, to make ground testing easier
+            attitude_control->reset_rate_controller_I_terms();
+        } else {
+            // otherwise full relax
+            attitude_control->relax_attitude_controllers();
+        }
         pos_control->relax_alt_hold_controllers(0);
     }