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AC_Autotune: Fix bug introduced in #27370

This commit is contained in:
Leonard Hall 2024-08-06 10:28:42 +09:30 committed by Peter Barker
parent 14b505c3cb
commit a4a9113cde
2 changed files with 5 additions and 3 deletions
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7
libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
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@ -1225,6 +1225,7 @@ void AC_AutoTune_Multi::twitch_test_init()
test_rate_min = 0.0; test_rate_min = 0.0;
test_angle_max = 0.0; test_angle_max = 0.0;
test_angle_min = 0.0; test_angle_min = 0.0;
accel_measure_rate_max = 0.0;
} }
//run twitch test //run twitch test
@ -1315,18 +1316,18 @@ void AC_AutoTune_Multi::twitch_test_run(AxisType test_axis, const float dir_sign
case RD_UP: case RD_UP:
case RD_DOWN: case RD_DOWN:
twitching_test_rate(lean_angle, rotation_rate, target_rate, test_rate_min, test_rate_max, test_angle_min); twitching_test_rate(lean_angle, rotation_rate, target_rate, test_rate_min, test_rate_max, test_angle_min);
twitching_measure_acceleration(test_accel_max, rotation_rate, test_rate_max); twitching_measure_acceleration(test_accel_max, rotation_rate, accel_measure_rate_max);
twitching_abort_rate(lean_angle, rotation_rate, angle_abort, test_rate_min, test_angle_min); twitching_abort_rate(lean_angle, rotation_rate, angle_abort, test_rate_min, test_angle_min);
break; break;
case RP_UP: case RP_UP:
twitching_test_rate(lean_angle, rotation_rate, target_rate * (1 + 0.5 * aggressiveness), test_rate_min, test_rate_max, test_angle_min); twitching_test_rate(lean_angle, rotation_rate, target_rate * (1 + 0.5 * aggressiveness), test_rate_min, test_rate_max, test_angle_min);
twitching_measure_acceleration(test_accel_max, rotation_rate, test_rate_max); twitching_measure_acceleration(test_accel_max, rotation_rate, accel_measure_rate_max);
twitching_abort_rate(lean_angle, rotation_rate, angle_abort, test_rate_min, test_angle_min); twitching_abort_rate(lean_angle, rotation_rate, angle_abort, test_rate_min, test_angle_min);
break; break;
case SP_DOWN: case SP_DOWN:
case SP_UP: case SP_UP:
twitching_test_angle(lean_angle, rotation_rate, target_angle * (1 + 0.5 * aggressiveness), test_angle_min, test_angle_max, test_rate_min, test_rate_max); twitching_test_angle(lean_angle, rotation_rate, target_angle * (1 + 0.5 * aggressiveness), test_angle_min, test_angle_max, test_rate_min, test_rate_max);
twitching_measure_acceleration(test_accel_max, rotation_rate - dir_sign * start_rate, test_rate_max); twitching_measure_acceleration(test_accel_max, rotation_rate - dir_sign * start_rate, accel_measure_rate_max);
break; break;
case RFF_UP: case RFF_UP:
case MAX_GAINS: case MAX_GAINS:

1
libraries/AC_AutoTune/AC_AutoTune_Multi.h
View File

@ -193,6 +193,7 @@ private:
float test_rate_max; // the maximum angular rate achieved during TESTING_RATE float test_rate_max; // the maximum angular rate achieved during TESTING_RATE
float test_angle_min; // the minimum angle achieved during TESTING_ANGLE float test_angle_min; // the minimum angle achieved during TESTING_ANGLE
float test_angle_max; // the maximum angle achieved during TESTING_ANGLE float test_angle_max; // the maximum angle achieved during TESTING_ANGLE
float accel_measure_rate_max; // the maximum rate used to measure average acceleration during twitch
}; };
#endif // AC_AUTOTUNE_ENABLED #endif // AC_AUTOTUNE_ENABLED