From 6c4c7a2130bec2601f4868f7694268ebf8ab56de Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sun, 18 Feb 2024 13:00:31 +0000
Subject: [PATCH] AC_AttitudeControl: fix reset_target_and_rate method

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

diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index 8d6060d06b5a6..c68e143a112fb 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -934,11 +934,11 @@ void AC_AttitudeControl::reset_target_and_rate(bool reset_rate)
 {
     // move attitude target to current attitude
     _ahrs.get_quat_body_to_ned(_attitude_target);
+    _attitude_target.to_euler(_euler_angle_target);
 
     if (reset_rate) {
-        // Convert euler angle derivative of desired attitude into a body-frame angular velocity vector for feedforward
         _ang_vel_target.zero();
-        _euler_angle_target.zero();
+        _euler_rate_target.zero();
     }
 }