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Copter: fix autotune accel max not being used until reboot

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Once autotune completes successfully, the discovered acceleration maximums should be used if the pilot tests the tune
This commit is contained in:
Leonard Hall 2017-06-21 18:05:45 +09:00 committed by Randy Mackay
parent 356a405e2d
commit f29951c2bf
1 changed files with 3 additions and 0 deletions
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3
ArduCopter/control_autotune.cpp
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@ -1169,6 +1169,7 @@ void Copter::autotune_save_tuning_gains()
orig_roll_ri = attitude_control->get_rate_roll_pid().kI();
orig_roll_rd = attitude_control->get_rate_roll_pid().kD();
orig_roll_sp = attitude_control->get_angle_roll_p().kP();
orig_roll_accel = attitude_control->get_accel_roll_max();
}
if (autotune_pitch_enabled() && !is_zero(tune_pitch_rp)) {
@ -1190,6 +1191,7 @@ void Copter::autotune_save_tuning_gains()
orig_pitch_ri = attitude_control->get_rate_pitch_pid().kI();
orig_pitch_rd = attitude_control->get_rate_pitch_pid().kD();
orig_pitch_sp = attitude_control->get_angle_pitch_p().kP();
orig_pitch_accel = attitude_control->get_accel_pitch_max();
}
if (autotune_yaw_enabled() && !is_zero(tune_yaw_rp)) {
@ -1213,6 +1215,7 @@ void Copter::autotune_save_tuning_gains()
orig_yaw_rd = attitude_control->get_rate_yaw_pid().kD();
orig_yaw_rLPF = attitude_control->get_rate_yaw_pid().filt_hz();
orig_yaw_sp = attitude_control->get_angle_yaw_p().kP();
orig_yaw_accel = attitude_control->get_accel_pitch_max();
}
// update GCS and log save gains event
autotune_update_gcs(AUTOTUNE_MESSAGE_SAVED_GAINS);