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Copter: adjust autotune poshold

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only reset position on pitch or roll input

also increases the max angle error for twitching in autotune. When a
vehicle is not well tuned the limit can prevent twitching
This commit is contained in:
Andrew Tridgell 2017-05-23 09:24:14 +10:00 committed by Randy Mackay
parent d062b5b8f2
commit a9ec4c3422
1 changed files with 5 additions and 2 deletions
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7
ArduCopter/control_autotune.cpp
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@ -43,7 +43,7 @@
#define AUTOTUNE_PILOT_OVERRIDE_TIMEOUT_MS 500 // restart tuning if pilot has left sticks in middle for 2 seconds
#define AUTOTUNE_TESTING_STEP_TIMEOUT_MS 1000 // timeout for tuning mode's testing step
#define AUTOTUNE_LEVEL_ANGLE_CD 300 // angle which qualifies as level
#define AUTOTUNE_LEVEL_ANGLE_CD 500 // angle which qualifies as level
#define AUTOTUNE_LEVEL_RATE_RP_CD 1000 // rate which qualifies as level for roll and pitch
#define AUTOTUNE_LEVEL_RATE_Y_CD 750 // rate which qualifies as level for yaw
#define AUTOTUNE_REQUIRED_LEVEL_TIME_MS 500 // time we require the copter to be level
@ -329,7 +329,10 @@ void Copter::autotune_run()
}
// reset pilot override time
autotune_override_time = millis();
autotune_state.have_position = false;
if (!zero_rp_input) {
// only reset position on roll or pitch input
autotune_state.have_position = false;
}
}else if (autotune_state.pilot_override) {
// check if we should resume tuning after pilot's override
if (millis() - autotune_override_time > AUTOTUNE_PILOT_OVERRIDE_TIMEOUT_MS) {