From 9db8b8dd95250b7ca73b0186b4042912567ba49f Mon Sep 17 00:00:00 2001
From: George Zogopoulos <tailwhipx4@gmail.com>
Date: Tue, 13 Aug 2024 16:46:57 +0200
Subject: [PATCH] Plane: Reset TECS along with other controllers

---
 ArduPlane/mode.cpp | 3 +++
 ArduPlane/mode.h   | 2 +-
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp
index d9fec93dff4f8..e4f97acc2c089 100644
--- a/ArduPlane/mode.cpp
+++ b/ArduPlane/mode.cpp
@@ -255,6 +255,9 @@ void Mode::reset_controllers()
     // reset steering controls
     plane.steer_state.locked_course = false;
     plane.steer_state.locked_course_err = 0;
+
+    // reset TECS
+    plane.TECS_controller.reset();
 }
 
 bool Mode::is_taking_off() const
diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
index c26a1233a87b7..230b372499ff4 100644
--- a/ArduPlane/mode.h
+++ b/ArduPlane/mode.h
@@ -81,7 +81,7 @@ class Mode
     // returns true if the vehicle can be armed in this mode
     bool pre_arm_checks(size_t buflen, char *buffer) const;
 
-    // Reset rate and steering controllers
+    // Reset rate and steering and TECS controllers
     void reset_controllers();
 
     //