From 3bae1e78e2dbaaa9a3598deb0a166da9167ca00f Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Wed, 23 Aug 2017 07:22:13 +0100
Subject: [PATCH] Reset ITerm after crash

---
 src/main/flight/pid.c | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 9ebb316b7..b95cc16b0 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -422,6 +422,9 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
                     errorRate = currentPidSetpoint - gyroRate;
                 }
             }
+            // reset ITerm, since accumulated error before crash is now meaningless
+            // and ITerm windup during crash recovery can be extreme, especially on yaw axis
+            axisPID_I[axis] = 0.0f;
             if (cmpTimeUs(currentTimeUs, crashDetectedAtUs) > crashTimeLimitUs
                 || (motorMixRange < 1.0f
                        && ABS(gyro.gyroADCf[FD_ROLL]) < crashRecoveryRate