From 46c5013bf82cc62cab56be82e7f7965a7bf95f3f Mon Sep 17 00:00:00 2001
From: George Zogopoulos <tailwhipx4@gmail.com>
Date: Tue, 10 Sep 2024 15:18:39 +0200
Subject: [PATCH] AP_TECS: Reverted TECS reset when pitch and throttle are
 forced

---
 libraries/AP_TECS/AP_TECS.cpp | 10 ----------
 libraries/AP_TECS/AP_TECS.h   |  2 --
 2 files changed, 12 deletions(-)

diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
index 2fce40636ab38e..94bd4bffc77d25 100644
--- a/libraries/AP_TECS/AP_TECS.cpp
+++ b/libraries/AP_TECS/AP_TECS.cpp
@@ -1114,8 +1114,6 @@ void AP_TECS::_initialise_states(float hgt_afe)
     // Initialise states and variables if DT > 0.2 second or TECS is getting overriden or in climbout.
     _flags.reset = false;
 
-    _need_reset = _need_reset || (_flag_pitch_forced && _flag_throttle_forced);
-
     if (_DT > 0.2f || _need_reset) {
         _SKE_weighting        = 1.0f;
         _integTHR_state       = 0.0f;
@@ -1500,12 +1498,4 @@ void AP_TECS::_update_pitch_limits(const int32_t ptchMinCO_cd) {
 
     // don't allow max pitch to go below min pitch
     _PITCHmaxf = MAX(_PITCHmaxf, _PITCHminf);
-
-    // Test if someone is forcing pitch to a specific value.
-    const float pitch_eps = DEG_TO_RAD*1;
-    if (fabsf(_PITCHmaxf-_PITCHminf)<pitch_eps) {
-        _flag_pitch_forced = true;
-    } else {
-        _flag_pitch_forced = false;
-    }
 }
\ No newline at end of file
diff --git a/libraries/AP_TECS/AP_TECS.h b/libraries/AP_TECS/AP_TECS.h
index 75d0184104b241..5bc757c0b79a72 100644
--- a/libraries/AP_TECS/AP_TECS.h
+++ b/libraries/AP_TECS/AP_TECS.h
@@ -431,8 +431,6 @@ class AP_TECS {
 
     // need to reset on next loop
     bool _need_reset;
-    // Flag if someone else drives pitch externally.
-    bool _flag_pitch_forced;
     // Flag if someone else drives throttle externally.
     bool _flag_throttle_forced;