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Copter: Autotune: Reduce chance of desync

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Leonard Hall 2024-02-19 13:51:03 +10:30 committed by Peter Barker
parent 9669699405
commit c47b3b8f03
1 changed files with 2 additions and 1 deletions
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3
libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
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@ -1163,9 +1163,9 @@ void AC_AutoTune_Multi::twitch_test_run(AxisType test_axis, const float dir_sign
// disable rate limits // disable rate limits
attitude_control->use_sqrt_controller(false); attitude_control->use_sqrt_controller(false);
// hold current attitude // hold current attitude
attitude_control->input_rate_bf_roll_pitch_yaw(0.0f, 0.0f, 0.0f);
if ((tune_type == SP_DOWN) || (tune_type == SP_UP)) { if ((tune_type == SP_DOWN) || (tune_type == SP_UP)) {
attitude_control->input_rate_bf_roll_pitch_yaw(0.0f, 0.0f, 0.0f);
// step angle targets on first iteration // step angle targets on first iteration
if (twitch_first_iter) { if (twitch_first_iter) {
twitch_first_iter = false; twitch_first_iter = false;
@ -1187,6 +1187,7 @@ void AC_AutoTune_Multi::twitch_test_run(AxisType test_axis, const float dir_sign
} }
} }
} else { } else {
attitude_control->input_rate_bf_roll_pitch_yaw_2(0.0f, 0.0f, 0.0f);
// Testing rate P and D gains so will set body-frame rate targets. // Testing rate P and D gains so will set body-frame rate targets.
// Rate controller will use existing body-frame rates and convert to motor outputs // Rate controller will use existing body-frame rates and convert to motor outputs
// for all axes except the one we override here. // for all axes except the one we override here.