From 9ff3a7e795bc8d2237e77576ee69989a1aec688e Mon Sep 17 00:00:00 2001 From: Bill Geyer Date: Thu, 9 Sep 2021 23:14:13 -0400 Subject: [PATCH] AutoTune: fix commit Add units to the AC_AttitudeControl Library after rebase --- libraries/AC_AutoTune/AC_AutoTune.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AC_AutoTune/AC_AutoTune.cpp b/libraries/AC_AutoTune/AC_AutoTune.cpp index 2889971675..88ed6d5fc9 100644 --- a/libraries/AC_AutoTune/AC_AutoTune.cpp +++ b/libraries/AC_AutoTune/AC_AutoTune.cpp @@ -884,7 +884,7 @@ void AC_AutoTune::load_intra_test_gains() attitude_control->get_rate_roll_pid().filt_T_hz(orig_roll_fltt); attitude_control->get_rate_roll_pid().slew_limit(orig_roll_smax); attitude_control->get_angle_roll_p().kP(orig_roll_sp); - attitude_control->set_accel_roll_max(orig_roll_accel); + attitude_control->set_accel_roll_max_cdss(orig_roll_accel); } if (pitch_enabled()) { attitude_control->get_rate_pitch_pid().kP(orig_pitch_rp); @@ -894,7 +894,7 @@ void AC_AutoTune::load_intra_test_gains() attitude_control->get_rate_pitch_pid().filt_T_hz(orig_pitch_fltt); attitude_control->get_rate_pitch_pid().slew_limit(orig_pitch_smax); attitude_control->get_angle_pitch_p().kP(orig_pitch_sp); - attitude_control->set_accel_pitch_max(orig_pitch_accel); + attitude_control->set_accel_pitch_max_cdss(orig_pitch_accel); } if (yaw_enabled()) { attitude_control->get_rate_yaw_pid().kP(orig_yaw_rp); @@ -905,7 +905,7 @@ void AC_AutoTune::load_intra_test_gains() attitude_control->get_rate_yaw_pid().slew_limit(orig_yaw_smax); attitude_control->get_rate_yaw_pid().filt_E_hz(orig_yaw_rLPF); attitude_control->get_angle_yaw_p().kP(orig_yaw_sp); - attitude_control->set_accel_yaw_max(orig_yaw_accel); + attitude_control->set_accel_yaw_max_cdss(orig_yaw_accel); } }