Plane: TECS Integrator winds up during Pitch (Nudge) demands in Auto modes (RTL, etc)

[JoshWelsh]

Bug report

Issue details

In discussion with Tridge, we noted an issue in Plane where if a vehicle is in RTL or Auto and the Operator issues a Pitch nudge from the RC, (for example, pitch down to reduce altitude) the throttle will spin up due to TECS trying to get the Plane back on Track. When the operator let's up on the nudge, the plane will jerk suddenly and return back to the previous track - which in this example is higher than the operator wants the current RTL to happen.

Version All versions of Plane

Platform [ ] All [ ] AntennaTracker [ ] Copter [ x ] Plane [ ] Rover [ ] Submarine

Airframe type Plane of any kind

Hardware type All

Logs Tridge has the logs

[JoshWelsh]

We discussed a fix that would set a flag so the integrator knew that the operator was issuing a pitch demand.

[tridge]

yep, we need to tell TECS not to wind up the integrator when pitch stick applied

[JoshWelsh]

yep, we need to tell TECS not to wind up the integrator when pitch stick applied

Will that also reset the track so that the planned descent happens from the new altitude and not the previous altitude? Apologies, I forget if I asked that on the call.