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Copter: autotune bug fix for restarting tuning from suspended state

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This commit is contained in:
Randy Mackay 2013-10-17 10:56:10 +09:00
parent 5ac3bf4915
commit f13b45467f
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/auto_tune.pde
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@ -132,9 +132,8 @@ void auto_tune_start()
{
// check we are in stabilize mode
if (control_mode == STABILIZE || control_mode == ALT_HOLD) {
// reset axis if this is our first time (i.e. we were not just suspended)
if (!auto_tune_state.active) {
auto_tune_state.active = true;
// reset axis if this is our first time
if (!auto_tune_state.enabled) {
auto_tune_state.axis = AUTO_TUNE_AXIS_ROLL;
auto_tune_state.positive_direction = false;
auto_tune_state.step = AUTO_TUNE_STEP_WAITING_FOR_LEVEL;
@ -155,6 +154,7 @@ void auto_tune_start()
// set roll-pitch mode to our special auto tuning stabilize roll-pitch mode
if (set_roll_pitch_mode(ROLL_PITCH_AUTOTUNE)) {
auto_tune_state.enabled = true;
auto_tune_state.active = true;
Log_Write_Event(DATA_AUTOTUNE_ON);
}
}