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Copter: autotune set original gains on reset 

Update from Leonard
This commit is contained in:
Randy Mackay 2013-10-20 11:47:59 +09:00
parent 53553751d1
commit 6d76652e48
1 changed files with 8 additions and 0 deletions
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8
ArduCopter/auto_tune.pde
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@ -236,6 +236,14 @@ static void auto_tune_save_tuning_gains_and_reset()
g.pid_rate_pitch.save_gains(); g.pid_rate_pitch.save_gains();
g.pi_stabilize_roll.save_gains(); g.pi_stabilize_roll.save_gains();
g.pi_stabilize_pitch.save_gains(); g.pi_stabilize_pitch.save_gains();
orig_roll_rp = g.pid_rate_roll.kP();
orig_roll_ri = g.pid_rate_roll.kI();
orig_roll_rd = g.pid_rate_roll.kD();
orig_roll_sp = g.pi_stabilize_roll.kP();
orig_pitch_rp = g.pid_rate_pitch.kP();
orig_pitch_ri = g.pid_rate_pitch.kI();
orig_pitch_rd = g.pid_rate_pitch.kD();
orig_pitch_sp = g.pi_stabilize_pitch.kP();
Log_Write_Event(DATA_AUTOTUNE_SAVEDGAINS); Log_Write_Event(DATA_AUTOTUNE_SAVEDGAINS);
} }
// reset state of autotune // reset state of autotune