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Copter: Autotune: Set D = 0 for Yaw test

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Leonard Hall 2024-02-19 13:52:41 +10:30 committed by Peter Barker
parent c000efdabe
commit 18d18d14fc
1 changed files with 1 additions and 0 deletions
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libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
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@ -367,6 +367,7 @@ void AC_AutoTune_Multi::load_test_gains()
if (axis == YAW_D) {
attitude_control->get_rate_yaw_pid().kD(tune_yaw_rd);
} else {
attitude_control->get_rate_yaw_pid().kD(0.0);
attitude_control->get_rate_yaw_pid().filt_E_hz(tune_yaw_rLPF);
}
attitude_control->get_rate_yaw_pid().filt_T_hz(0.0f);