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AC_AutoTune: add public reset method

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Peter Hall 2019-05-01 13:15:56 +01:00 committed by Andrew Tridgell
parent e4f6ffe719
commit a0d8c04f3e
2 changed files with 7 additions and 3 deletions
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4
libraries/AC_AutoTune/AC_AutoTune.cpp
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@ -1215,9 +1215,7 @@ void AC_AutoTune::save_tuning_gains()
update_gcs(AUTOTUNE_MESSAGE_SAVED_GAINS); update_gcs(AUTOTUNE_MESSAGE_SAVED_GAINS);
Log_Write_Event(EVENT_AUTOTUNE_SAVEDGAINS); Log_Write_Event(EVENT_AUTOTUNE_SAVEDGAINS);
// reset Autotune so that gains are not saved again and autotune can be run again. reset();
mode = UNINITIALISED;
axes_completed = 0;
} }
// update_gcs - send message to ground station // update_gcs - send message to ground station

6
libraries/AC_AutoTune/AC_AutoTune.h
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@ -37,6 +37,12 @@ public:
// stop tune, reverting gains // stop tune, reverting gains
void stop(); void stop();
// reset Autotune so that gains are not saved again and autotune can be run again.
void reset() {
mode = UNINITIALISED;
axes_completed = 0;
}
// var_info for holding Parameter information // var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];