Plane: Reset TECS along with other controllers

ArduPilot · Oct 15, 2024 · 9db8b8d · 9db8b8d
1 parent 81768b2
commit 9db8b8d
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Showing 2 changed files with 4 additions and 1 deletion.
diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp
@@ -255,6 +255,9 @@ void Mode::reset_controllers()
     // reset steering controls
     plane.steer_state.locked_course = false;
     plane.steer_state.locked_course_err = 0;
+
+    // reset TECS
+    plane.TECS_controller.reset();
 }
 
 bool Mode::is_taking_off() const

diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
@@ -81,7 +81,7 @@ class Mode
     // returns true if the vehicle can be armed in this mode
     bool pre_arm_checks(size_t buflen, char *buffer) const;
 
-    // Reset rate and steering controllers
+    // Reset rate and steering and TECS controllers
     void reset_controllers();
 
     //