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Copter: disable autotune if pilot moves yaw stick

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Randy Mackay 2013-11-02 12:12:46 +09:00
parent 94f301181e
commit aaf642c223
2 changed files with 3 additions and 3 deletions
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2
ArduCopter/ArduCopter.pde
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@ -1741,7 +1741,7 @@ void update_roll_pitch_mode(void)
get_stabilize_pitch(control_pitch); get_stabilize_pitch(control_pitch);
// copy user input for reporting purposes // copy user input for reporting purposes
get_autotune_roll_pitch_controller(g.rc_1.control_in, g.rc_2.control_in); get_autotune_roll_pitch_controller(g.rc_1.control_in, g.rc_2.control_in, g.rc_4.control_in);
break; break;
#endif #endif
} }

4
ArduCopter/auto_tune.pde
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@ -279,7 +279,7 @@ void auto_tune_update_gcs(uint8_t message_id)
// Auto tuning roll-pitch controller // Auto tuning roll-pitch controller
static void static void
get_autotune_roll_pitch_controller(int32_t pilot_roll_angle, int32_t pilot_pitch_angle) get_autotune_roll_pitch_controller(int16_t pilot_roll_angle, int16_t pilot_pitch_angle, int16_t pilot_yaw_command)
{ {
int32_t target_roll_rate, target_pitch_rate; int32_t target_roll_rate, target_pitch_rate;
float rotation_rate; // rotation rate in radians/second float rotation_rate; // rotation rate in radians/second
@ -291,7 +291,7 @@ get_autotune_roll_pitch_controller(int32_t pilot_roll_angle, int32_t pilot_pitch
} }
// check for pilot override // check for pilot override
if (pilot_roll_angle != 0 || pilot_pitch_angle != 0 ) { if (pilot_roll_angle != 0 || pilot_pitch_angle != 0 || pilot_yaw_command != 0) {
if (!auto_tune_state.pilot_override) { if (!auto_tune_state.pilot_override) {
// restore pids to their original values // restore pids to their original values
auto_tune_restore_orig_gains(); auto_tune_restore_orig_gains();