Fix incorrect PID filter reset introduced in #803 (#843)

bitcraze · Sep 3, 2021 · 949d378 · 949d378
1 parent 0b2caed
commit 949d378
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/src/modules/src/position_controller_pid.c b/src/modules/src/position_controller_pid.c
@@ -258,7 +258,11 @@ void positionControllerResetAllfilters() {
   filterReset(&this.pidZ.pid, POSITION_RATE, POSITION_LPF_CUTOFF_FREQ, POSITION_LPF_ENABLE);
   filterReset(&this.pidVX.pid, POSITION_RATE, POSITION_LPF_CUTOFF_FREQ, POSITION_LPF_ENABLE);
   filterReset(&this.pidVY.pid, POSITION_RATE, POSITION_LPF_CUTOFF_FREQ, POSITION_LPF_ENABLE);
-  filterReset(&this.pidVZ.pid, POSITION_RATE, ZVELOCITY_LPF_CUTOFF_FREQ, POSITION_LPF_ENABLE);
+  #ifdef IMPROVED_BARO_Z_HOLD
+    filterReset(&this.pidVZ.pid, POSITION_RATE, ZVELOCITY_LPF_CUTOFF_FREQ, POSITION_LPF_ENABLE);
+  #else
+    filterReset(&this.pidVZ.pid, POSITION_RATE, POSITION_LPF_CUTOFF_FREQ, POSITION_LPF_ENABLE);
+  #endif
 }
 
 /**