AR_AttitudeControl: reset I if speed controller not called recently

Icatme · Sep 4, 2018 · 9609758 · 9609758
1 parent 135e37e
commit 9609758
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/libraries/APM_Control/AR_AttitudeControl.cpp b/libraries/APM_Control/AR_AttitudeControl.cpp
@@ -391,6 +391,7 @@ float AR_AttitudeControl::get_throttle_out_speed(float desired_speed, bool motor
     const uint32_t now = AP_HAL::millis();
     if (!speed_control_active()) {
         _throttle_speed_pid.reset_filter();
+        _throttle_speed_pid.reset_I();
         _desired_speed = speed;
     }
     _speed_last_ms = now;