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AC_AutoTune: modifcations based on suggested changes

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This commit is contained in:
Bill Geyer 2021-11-11 13:38:04 -05:00 committed by Bill Geyer
parent 12c7c19a9d
commit 58b6dae4d5
1 changed files with 5 additions and 5 deletions
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10
libraries/AC_AutoTune/AC_AutoTune.cpp
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@ -136,7 +136,7 @@ bool AC_AutoTune::init_internals(bool _use_poshold,
// we are restarting tuning so restart where we left off
// reset test variables to continue where we left off
// reset dwell test variables if sweep was interrupted in order to restart sweep
if (!is_equal(start_freq,stop_freq)) {
if (!is_equal(start_freq, stop_freq)) {
freq_cnt = 0;
start_freq = 0.0f;
stop_freq = 0.0f;
@ -454,7 +454,7 @@ void AC_AutoTune::control_attitude()
load_gains(GAIN_INTRA_TEST);
}
// Initialize test specific variables
// Initialize test-specific variables
switch (axis) {
case ROLL:
abort_angle = AUTOTUNE_TARGET_ANGLE_RLLPIT_CD;
@ -1365,7 +1365,7 @@ void AC_AutoTune::twitch_test_run(AxisType test_axis, const float dir_sign)
}
}
// capture this iterations rotation rate and lean angle
// capture this iteration's rotation rate and lean angle
float gyro_reading = 0;
switch (test_axis) {
case ROLL:
@ -1627,7 +1627,7 @@ void AC_AutoTune::dwell_test_init(float filt_freq)
filt_target_rate = 0.0f;
dwell_start_time_ms = 0.0f;
settle_time = 200;
if (!is_equal(start_freq,stop_freq)) {
if (!is_equal(start_freq, stop_freq)) {
sweep.ph180_freq = 0.0f;
sweep.ph180_gain = 0.0f;
sweep.ph180_phase = 0.0f;
@ -1917,7 +1917,7 @@ void AC_AutoTune::angle_dwell_test_init(float filt_freq)
filt_target_rate = 0.0f;
break;
}
if (!is_equal(start_freq,stop_freq)) {
if (!is_equal(start_freq, stop_freq)) {
sweep.ph180_freq = 0.0f;
sweep.ph180_gain = 0.0f;
sweep.ph180_phase = 0.0f;