From 8320c8ba1452d3ec836711845ce90b1ba286c703 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Thu, 21 Dec 2017 16:09:53 -0500
Subject: [PATCH] TECS initialize throttle integrator at cruise if in air

---
 tecs/tecs.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tecs/tecs.cpp b/tecs/tecs.cpp
index eb0f57c7a9..f17e8e9a92 100644
--- a/tecs/tecs.cpp
+++ b/tecs/tecs.cpp
@@ -531,7 +531,7 @@ void TECS::_initialize_states(float pitch, float throttle_cruise, float baro_alt
 		_vert_pos_state = baro_altitude;
 		_tas_rate_state = 0.0f;
 		_tas_state = _EAS * EAS2TAS;
-		_throttle_integ_state = 0.0f;
+		_throttle_integ_state = (_in_air ? throttle_cruise : 0.0f);
 		_pitch_integ_state = 0.0f;
 		_last_throttle_setpoint = throttle_cruise;
 		_last_pitch_setpoint = constrain(pitch, _pitch_setpoint_min, _pitch_setpoint_max);