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APM_Control: Allow autotune level 0 to actually reach the lowest entries of the autotune level table

This commit is contained in:
Michael du Breuil 2023-10-28 13:51:03 -07:00 committed by Andrew Tridgell
parent 2be4c0e3f5
commit f1b6a7d586
1 changed files with 1 additions and 1 deletions
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2
libraries/APM_Control/AP_AutoTune.cpp
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@ -556,7 +556,7 @@ void AP_AutoTune::update_rmax(void)
if (level == 0) { if (level == 0) {
// this level means to keep current values of RMAX and TCONST // this level means to keep current values of RMAX and TCONST
target_rmax = constrain_float(current.rmax_pos, 75, 720); target_rmax = constrain_float(current.rmax_pos, 20, 720);
target_tau = constrain_float(current.tau, 0.1, 2); target_tau = constrain_float(current.tau, 0.1, 2);
} else { } else {
target_rmax = tuning_table[level-1].rmax; target_rmax = tuning_table[level-1].rmax;