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AC_AutoTune: fix yaw feedforward test

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Bill Geyer 2022-01-22 23:36:34 -05:00 committed by Bill Geyer
parent f0042b3909
commit b260839b13
1 changed files with 3 additions and 3 deletions
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6
libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
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@ -59,14 +59,14 @@ const AP_Param::GroupInfo AC_AutoTune_Heli::var_info[] = {
// @Description: 1-byte bitmap of axes to autotune
// @Bitmask: 0:Roll,1:Pitch,2:Yaw
// @User: Standard
AP_GROUPINFO("AXES", 1, AC_AutoTune_Heli, axis_bitmask, 7), // AUTOTUNE_AXIS_BITMASK_DEFAULT
AP_GROUPINFO("AXES", 1, AC_AutoTune_Heli, axis_bitmask, 1), // AUTOTUNE_AXIS_BITMASK_DEFAULT
// @Param: SEQ
// @DisplayName: AutoTune Sequence Bitmask
// @Description: 2-byte bitmask to select what tuning should be performed. Max gain automatically performed if Rate D is selected. Values: 7:All,1:VFF Only,2:Rate D Only,4:Angle P Only,8:Max Gain Only,3:VFF and Rate D (incl max gain),5:VFF and Angle P,13:VFF max gain and angle P
// @Bitmask: 0:VFF,1:Rate D,2:Angle P,3:Max Gain Only
// @User: Standard
AP_GROUPINFO("SEQ", 2, AC_AutoTune_Heli, seq_bitmask, 5),
AP_GROUPINFO("SEQ", 2, AC_AutoTune_Heli, seq_bitmask, 3),
// @Param: FRQ_MIN
// @DisplayName: AutoTune minimum sweep frequency
@ -863,7 +863,7 @@ void AC_AutoTune_Heli::rate_ff_test_run(float max_angle_cd, float target_rate_cd
attitude_control->input_euler_angle_roll_pitch_yaw(start_angles.x, start_angles.y, angle_request_cd.get(), false);
} else if (ff_test_phase == 2 ) {
angle_request_cd.apply(0.0f, AP::scheduler().get_loop_period_s());
attitude_control->input_euler_angle_roll_pitch_yaw(start_angles.x, start_angles.y, angle_request_cd.get(), false);
attitude_control->input_euler_angle_roll_pitch_yaw(start_angles.x, start_angles.y, wrap_360_cd(trim_heading + angle_request_cd.get()), false);
}
break;
}