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Copter: Autotune use set_accel_roll, pitch, yaw

This commit is contained in:
Leonard Hall 2015-06-05 17:55:13 +09:30 committed by Randy Mackay
parent 196f6cf1b7
commit 7957d5fc19
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/control_autotune.cpp
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@ -805,7 +805,7 @@ void Copter::autotune_load_orig_gains()
g.pid_rate_roll.kI(orig_roll_ri);
g.pid_rate_roll.kD(orig_roll_rd);
g.p_stabilize_roll.kP(orig_roll_sp);
attitude_control.save_accel_roll_max(orig_roll_accel);
attitude_control.set_accel_roll_max(orig_roll_accel);
} else {
failed = true;
}
@ -816,7 +816,7 @@ void Copter::autotune_load_orig_gains()
g.pid_rate_pitch.kI(orig_pitch_ri);
g.pid_rate_pitch.kD(orig_pitch_rd);
g.p_stabilize_pitch.kP(orig_pitch_sp);
attitude_control.save_accel_pitch_max(orig_pitch_accel);
attitude_control.set_accel_pitch_max(orig_pitch_accel);
} else {
failed = true;
}
@ -828,7 +828,7 @@ void Copter::autotune_load_orig_gains()
g.pid_rate_yaw.kD(orig_yaw_rd);
g.pid_rate_yaw.filt_hz(orig_yaw_rLPF);
g.p_stabilize_yaw.kP(orig_yaw_sp);
attitude_control.save_accel_yaw_max(orig_yaw_accel);
attitude_control.set_accel_yaw_max(orig_yaw_accel);
} else {
failed = true;
}