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AC_AutoTune: use structure assignment for test results

This commit is contained in:
Peter Barker 2022-02-09 10:42:14 +11:00 committed by Randy Mackay
parent 3686f32671
commit 55af020639
1 changed files with 3 additions and 9 deletions
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12
libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
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@ -1345,19 +1345,13 @@ void AC_AutoTune_Heli::angle_dwell_test_run(float start_frq, float stop_frq, flo
// set sweep data if a frequency sweep is being conducted
if (!is_equal(start_frq,stop_frq)) {
if (curr_test.phase <= 160.0f && curr_test.phase >= 150.0f) {
sweep.ph180.freq = curr_test.freq;
sweep.ph180.gain = curr_test.gain;
sweep.ph180.phase = curr_test.phase;
sweep.ph180 = curr_test;
}
if (curr_test.phase <= 250.0f && curr_test.phase >= 240.0f) {
sweep.ph270.freq = curr_test.freq;
sweep.ph270.gain = curr_test.gain;
sweep.ph270.phase = curr_test.phase;
sweep.ph270 = curr_test;
}
if (curr_test.gain > sweep.maxgain.gain) {
sweep.maxgain.gain = curr_test.gain;
sweep.maxgain.freq = curr_test.freq;
sweep.maxgain.phase = curr_test.phase;
sweep.maxgain = curr_test;
}
if (now - step_start_time_ms >= sweep_time_ms + 200) {
// we have passed the maximum stop time