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AC_AutoTune: load test gains for correct axis when testing yaw D

This commit is contained in:
Andy Piper 2023-05-15 13:54:09 +01:00 committed by Andrew Tridgell
parent d5c6d1c8a8
commit c1943261ad
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
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@ -346,7 +346,7 @@ void AC_AutoTune_Multi::load_test_gains()
attitude_control->get_rate_yaw_pid().kI(tune_yaw_rp*0.01f);
attitude_control->get_rate_yaw_pid().ff(0.0f);
if (axis == YAW_D) {
attitude_control->get_rate_pitch_pid().kD(tune_yaw_rd);
attitude_control->get_rate_yaw_pid().kD(tune_yaw_rd);
} else {
attitude_control->get_rate_yaw_pid().filt_E_hz(tune_yaw_rLPF);
}