Plane: fixed TECS state reset in VTOL auto #24191
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this fixes a bug where TECS maintains its slow integrator while in a VTOL hover mode in AUTO or GUIDED. Among other things this affects PAYLOAD_PLACE and DO_VTOL_TRANSITION. In those states the height can change while hovering outside the control of TECS. When TECS regains control in a fwd transition then can lead to a very large height loss or gain until the TECS integrator can catch up
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this fixes a bug where TECS maintains its slow integrator while in a VTOL hover mode in AUTO or GUIDED.
Among other things this affects PAYLOAD_PLACE and DO_VTOL_TRANSITION. In those states the height can change while hovering outside the control of TECS. When TECS regains control in a fwd transition then can lead to a very large height loss or gain until the TECS integrator can catch up
By not running TECS when in these VTOL states we force it to reset when we start needing it again, preventing the integrator issue.
This bug affects 4.4.x as well
Without the fix we get this:
with the fix we get this: