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APM_Control: fixed saving of new rate gains

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This commit is contained in:
Andrew Tridgell 2014-04-13 15:35:52 +10:00
parent b9a8ef3b51
commit 3343af602e
2 changed files with 6 additions and 0 deletions
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3
libraries/APM_Control/AP_AutoTune.cpp
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@ -106,6 +106,7 @@ void AP_AutoTune::start(void)
state_enter_ms = now;
last_save_ms = now;
last_save = current;
restore = current;
/*
@ -246,12 +247,14 @@ void AP_AutoTune::check_save(void)
*/
void AP_AutoTune::save_gains(const ATGains &v)
{
current = last_save;
current.tau.set_and_save_ifchanged(v.tau);
current.P.set_and_save_ifchanged(v.P);
current.I.set_and_save_ifchanged(v.I);
current.D.set_and_save_ifchanged(v.D);
current.rmax.set_and_save_ifchanged(v.rmax);
current.imax.set_and_save_ifchanged(v.imax);
last_save = current;
}
#define LOG_MSG_ATRP 211

3
libraries/APM_Control/AP_AutoTune.h
View File

@ -58,6 +58,9 @@ private:
// values to restore if we leave autotune mode
ATGains restore;
// values we last saved
ATGains last_save;
// values to save on the next save event
ATGains next_save;