From 545cf0504a99f0a24e9da47fcd2b6bb804d885f3 Mon Sep 17 00:00:00 2001
From: esaldiran <emresaldiran@gmail.com>
Date: Mon, 18 Jul 2022 23:32:35 +0100
Subject: [PATCH] APM_Control: AP_YawController: update pid_info with
 integrator reset for logging purposes

---
 libraries/APM_Control/AP_YawController.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/APM_Control/AP_YawController.cpp b/libraries/APM_Control/AP_YawController.cpp
index 913f2c62e4a..2625961f44d 100644
--- a/libraries/APM_Control/AP_YawController.cpp
+++ b/libraries/APM_Control/AP_YawController.cpp
@@ -343,7 +343,8 @@ float AP_YawController::get_rate_out(float desired_rate, float scaler, bool disa
 
 void AP_YawController::reset_I()
 {
-    _integrator = 0;
+    _integrator = 0.0;
+    _pid_info.I = 0.0;
 }
 
 /*