From 74fedc0897a91bb11931483bb43c2e70519091b2 Mon Sep 17 00:00:00 2001
From: Brad Bosch <brad112358@gmail.com>
Date: Fri, 24 Oct 2014 14:39:54 -0500
Subject: [PATCH] Copter: allow starting autotune from flightmode switch

ch5 switch to AutoTune is equivalent to starting autotune via sw7/8.
---
 ArduCopter/control_autotune.pde | 16 ++++++++--------
 ArduCopter/switches.pde         |  4 +---
 2 files changed, 9 insertions(+), 11 deletions(-)

diff --git a/ArduCopter/control_autotune.pde b/ArduCopter/control_autotune.pde
index 0fb7cf96b2..5c49fe6db7 100644
--- a/ArduCopter/control_autotune.pde
+++ b/ArduCopter/control_autotune.pde
@@ -115,9 +115,10 @@ static float    orig_pitch_rp = 0, orig_pitch_ri, orig_pitch_rd, orig_pitch_sp;
 static float    tune_roll_rp, tune_roll_rd, tune_roll_sp;                   // currently being tuned parameter values
 static float    tune_pitch_rp, tune_pitch_rd, tune_pitch_sp;                // currently being tuned parameter values
 
-// autotune_start - should be called when the ch7/ch8 switch is switched ON
-static void autotune_start()
+// autotune_init - should be called when autotune mode is selected
+static bool autotune_init(bool ignore_checks)
 {
+    bool success=true;
     switch (autotune_state.mode) {
         case AUTOTUNE_MODE_FAILED:
             // autotune has been run but failed so reset state to uninitialised
@@ -125,8 +126,7 @@ static void autotune_start()
             // no break to allow fall through to restart the tuning
         case AUTOTUNE_MODE_UNINITIALISED:
             // autotune has never been run
-            // switch into the AUTOTUNE flight mode
-            if (set_mode(AUTOTUNE)) {
+            if (success=autotune_start(false)) {
                 // so store current gains as original gains
                 autotune_backup_gains_and_initialise();
                 // advance mode to tuning
@@ -138,8 +138,7 @@ static void autotune_start()
 
         case AUTOTUNE_MODE_TUNING:
             // we are restarting tuning after the user must have switched ch7/ch8 off so we restart tuning where we left off
-            // set_mode to AUTOTUNE
-            if (set_mode(AUTOTUNE)) {
+            if (success=autotune_start(false)) {
                 // reset gains to tuning-start gains (i.e. low I term)
                 autotune_load_intra_test_gains();
                 // write dataflash log even and send message to ground station
@@ -155,6 +154,7 @@ static void autotune_start()
             Log_Write_Event(DATA_AUTOTUNE_PILOT_TESTING);
             break;
     }
+    return success;
 }
 
 // autotune_stop - should be called when the ch7/ch8 switch is switched OFF
@@ -174,8 +174,8 @@ static void autotune_stop()
     // we expect the caller will change the flight mode back to the flight mode indicated by the flight mode switch
 }
 
-// autotune_init - initialise autotune flight mode
-static bool autotune_init(bool ignore_checks)
+// autotune_start - initialise autotune flight mode
+static bool autotune_start(bool ignore_checks)
 {
     // only allow flip from Stabilize or AltHold flight modes
     if (control_mode != STABILIZE && control_mode != ALT_HOLD) {
diff --git a/ArduCopter/switches.pde b/ArduCopter/switches.pde
index 01d6caee2c..ba1bac2b68 100644
--- a/ArduCopter/switches.pde
+++ b/ArduCopter/switches.pde
@@ -344,8 +344,6 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
             switch(ch_flag) {
                 case AUX_SWITCH_LOW:
                 case AUX_SWITCH_MIDDLE:
-                    // stop the autotune and return to original gains
-                    autotune_stop();
                     // restore flight mode based on flight mode switch position
                     if (control_mode == AUTOTUNE) {
                         reset_control_switch();
@@ -353,7 +351,7 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
                     break;
                 case AUX_SWITCH_HIGH:
                     // start an autotuning session
-                    autotune_start();
+                    set_mode(AUTOTUNE);
                     break;
             }
             break;