Fast takeoff in poshold mode to midair then continue small shift can't hold its position

[askariz]

Bug report

Issue details

Fast takeoff (First let PILOT_SPEED_UP to 10m/s then full throttle takeoff in poshold mode) in poshold mode to midair then continue small shift can't hold its position !

And I find it due to code in mode_poshold.cpp there are 3 call for loiter_nav->init_target();

Version
copter-3.6/master

Platform
[ ] All
[ ] AntennaTracker
[ ✔ ] Copter
[ ] Plane
[ ] Rover
[ ] Submarine

Airframe type
hex copter

Hardware type
SITL & PX4-V2

Logs
https://drive.google.com/file/d/1dChBmx2aOMKALWHLzCjgYflMhGAB6Wgg/view

[lthall]

Sorry but it is not clear what you are saying the problem is. I can't even see what you have plotted in your graph.

Could you please attempt to describe this problem in more detail.

[lthall]

Ok, I think I see what you are saying and I think I have fixed the issue.

Could you test this?

https://github.com/lthall/Leonard_ardupilot/tree/20180918-PosHoldFix

Thank you very much for bringing this to our attention!!

[askariz]

HI , I have tested your commit with SITL then the problem solved .
Thank you .

[lthall]

Thanks!!!

[rmackay9]

fix merged into master and will go out with -rc11.