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Plane: Training: make sure FW controllers are reset in manual control

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Iampete1
2026-07-21 11:24:27 +10:00
committed by Peter Barker
parent 18ab037c5b
commit eb952fb8a4
1 changed files with 2 additions and 0 deletions
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ArduPlane/mode_training.cpp
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@@ -42,6 +42,7 @@ void ModeTraining::run()
const float pexpo = plane.pitch_in_expo(false);
if (plane.training_manual_roll) {
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, rexpo);
plane.rollController.reset();
} else {
// calculate what is needed to hold
plane.stabilize_roll();
@@ -54,6 +55,7 @@ void ModeTraining::run()
if (plane.training_manual_pitch) {
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, pexpo);
plane.pitchController.reset();
} else {
plane.stabilize_pitch();
if ((plane.nav_pitch_cd > 0 && pexpo < SRV_Channels::get_output_scaled(SRV_Channel::k_elevator)) ||