differential: reset integrators when disarmed (#23637)

src/modules/rover_differential/RoverDifferentialControl/RoverDifferentialControl.cpp

@@ -174,3 +174,10 @@ matrix::Vector2f RoverDifferentialControl::computeInverseKinematics(float forwar
 	return Vector2f(forward_speed_normalized - speed_diff_normalized,
 			forward_speed_normalized + speed_diff_normalized);
 }
+
+void RoverDifferentialControl::resetControllers()
+{
+	pid_reset_integral(&_pid_throttle);
+	pid_reset_integral(&_pid_yaw_rate);
+	pid_reset_integral(&_pid_yaw);
+}

src/modules/rover_differential/RoverDifferentialControl/RoverDifferentialControl.hpp

@@ -72,6 +72,11 @@ public:
 	 */
 	void computeMotorCommands(float vehicle_yaw, float vehicle_yaw_rate, float vehicle_forward_speed);
 
+	/**
+	 * @brief Reset PID controllers
+	 */
+	void resetControllers();
+
 protected:
 	/**
 	 * @brief Update the parameters of the module.