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Plane: fixed TECS state reset in VTOL auto #24191

Merged
merged 1 commit into from
Jul 2, 2023
Merged

Plane: fixed TECS state reset in VTOL auto #24191

merged 1 commit into from
Jul 2, 2023

Commits on Jul 2, 2023

  1. Plane: fixed TECS state reset in VTOL auto 

    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
    @tridge
    tridge committed Jul 2, 2023
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