AC_PosControl: hack to remove jump -- do not merge

rmackay9 · Aug 19, 2024 · 15823bd · 15823bd
1 parent 11e78f3
commit 15823bd
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -538,12 +538,12 @@ void AC_PosControl::init_xy_controller()
     _accel_target.xy().limit_length(accel_max);
 
     // initialise horizontal offsets
-    _xy_offset_type = XYOffsetType::POSITION;
+    /*_xy_offset_type = XYOffsetType::POSITION;
     _pos_offset_target.xy().zero();
     _pos_offset.xy().zero();
     _vel_offset_target.zero();
     _vel_offset.xy().zero();
-    _accel_offset.xy().zero();
+    _accel_offset.xy().zero();*/
 
     // initialise I terms from lean angles
     _pid_vel_xy.reset_filter();