Commit 47aedba6 authored by Lorenz Meier's avatar Lorenz Meier
Browse files

TECS: Fix altitude reset logic

parent 74b2d21e
......@@ -62,6 +62,10 @@ void TECS::update_state(float baro_altitude, float airspeed, const math::Matrix<
_integ3_state = baro_altitude;
_integ2_state = 0.0f;
_integ1_state = 0.0f;
// Reset the filter state as we just switched from non-altitude control
// to altitude control mode
_states_initalized = false;
_update_50hz_last_usec = now;
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