From 15823bd2f700bf6e229923c25bb76f3f64aaaaae Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 8 Aug 2024 12:53:45 +0900
Subject: [PATCH] AC_PosControl: hack to remove jump -- do not merge

---
 libraries/AC_AttitudeControl/AC_PosControl.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp
index 45d4ad8159a89d..f80d984e6517cf 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -538,12 +538,12 @@ void AC_PosControl::init_xy_controller()
     _accel_target.xy().limit_length(accel_max);
 
     // initialise horizontal offsets
-    _xy_offset_type = XYOffsetType::POSITION;
+    /*_xy_offset_type = XYOffsetType::POSITION;
     _pos_offset_target.xy().zero();
     _pos_offset.xy().zero();
     _vel_offset_target.zero();
     _vel_offset.xy().zero();
-    _accel_offset.xy().zero();
+    _accel_offset.xy().zero();*/
 
     // initialise I terms from lean angles
     _pid_vel_xy.reset_filter();