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Copter: Autotune: Remove double call to AC_Attitude_Control

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Leonard Hall 2024-05-17 09:27:47 +09:30 committed by Peter Barker
parent b9e06402af
commit 20edb9185d
1 changed files with 3 additions and 2 deletions
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5
libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
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@ -1232,7 +1232,6 @@ void AC_AutoTune_Multi::twitch_test_run(AxisType test_axis, const float dir_sign
// hold current attitude
if ((tune_type == SP_DOWN) || (tune_type == SP_UP)) {
attitude_control->input_rate_bf_roll_pitch_yaw(0.0f, 0.0f, 0.0f);
// step angle targets on first iteration
if (twitch_first_iter) {
twitch_first_iter = false;
@ -1251,7 +1250,9 @@ void AC_AutoTune_Multi::twitch_test_run(AxisType test_axis, const float dir_sign
// request yaw to 20deg
attitude_control->input_angle_step_bf_roll_pitch_yaw(0.0f, 0.0f, dir_sign * target_angle);
break;
}
}
} else {
attitude_control->input_rate_bf_roll_pitch_yaw(0.0f, 0.0f, 0.0f);
}
} else {
attitude_control->input_rate_bf_roll_pitch_yaw_2(0.0f, 0.0f, 0.0f);