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Copter: autotune announce only while tuning

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Leonard Hall 2018-04-05 22:03:41 +09:00 committed by Randy Mackay
parent 83fac326a4
commit 5c1d895f82
1 changed files with 2 additions and 3 deletions
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5
ArduCopter/mode_autotune.cpp
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@ -318,9 +318,6 @@ void Copter::ModeAutoTune::run()
float target_yaw_rate; float target_yaw_rate;
int16_t target_climb_rate; int16_t target_climb_rate;
// tell the user what's going on
do_gcs_announcements();
// initialize vertical speeds and acceleration // initialize vertical speeds and acceleration
pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up); pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
pos_control->set_accel_z(g.pilot_accel_z); pos_control->set_accel_z(g.pilot_accel_z);
@ -410,6 +407,8 @@ void Copter::ModeAutoTune::run()
}else{ }else{
// somehow get attitude requests from autotuning // somehow get attitude requests from autotuning
autotune_attitude_control(); autotune_attitude_control();
// tell the user what's going on
do_gcs_announcements();
} }
// call position controller // call position controller