Copter: FlightMode - convert AUTOTUNE flight mode

This commit is contained in:
Peter Barker 2016-03-23 10:36:52 +11:00 committed by Randy Mackay
parent 018c70d224
commit 67063d6b1e
6 changed files with 115 additions and 83 deletions

View File

@ -709,8 +709,6 @@ private:
void send_pid_tuning(mavlink_channel_t chan);
void gcs_data_stream_send(void);
void gcs_check_input(void);
void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt);
void Log_Write_AutoTuneDetails(float angle_cd, float rate_cds);
void Log_Write_Current();
void Log_Write_Optflow();
void Log_Write_Nav_Tuning();
@ -776,37 +774,7 @@ private:
void set_auto_yaw_rate(float turn_rate_cds);
float get_auto_heading(void);
float get_auto_yaw_rate_cds();
bool autotune_init(bool ignore_checks);
void autotune_stop();
bool autotune_start(bool ignore_checks);
void autotune_run();
bool autotune_currently_level();
void autotune_attitude_control();
void autotune_backup_gains_and_initialise();
void autotune_load_orig_gains();
void autotune_load_tuned_gains();
void autotune_load_intra_test_gains();
void autotune_load_twitch_gains();
void autotune_save_tuning_gains();
void autotune_update_gcs(uint8_t message_id);
bool autotune_roll_enabled();
bool autotune_pitch_enabled();
bool autotune_yaw_enabled();
void autotune_twitching_test(float measurement, float target, float &measurement_min, float &measurement_max);
void autotune_updating_d_up(float &tune_d, float tune_d_min, float tune_d_max, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max);
void autotune_updating_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max);
void autotune_updating_p_down(float &tune_p, float tune_p_min, float tune_p_step_ratio, float target, float measurement_max);
void autotune_updating_p_up(float &tune_p, float tune_p_max, float tune_p_step_ratio, float target, float measurement_max);
void autotune_updating_p_up_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max);
void autotune_twitching_measure_acceleration(float &rate_of_change, float rate_measurement, float &rate_measurement_max);
void autotune_get_poshold_attitude(float &roll_cd, float &pitch_cd, float &yaw_cd);
void avoidance_adsb_update(void);
void autotune_send_step_string();
const char *autotune_level_issue_string() const;
const char * autotune_type_string() const;
void autotune_announce_state_to_gcs();
void autotune_do_gcs_announcements();
bool autotune_check_level(const enum AUTOTUNE_LEVEL_ISSUE issue, const float current, const float maximum) const;
#if ADVANCED_FAILSAFE == ENABLED
void afs_fs_check(void);
@ -1055,6 +1023,10 @@ private:
Copter::FlightMode_AUTO flightmode_auto{*this, mission, circle_nav};
#if AUTOTUNE_ENABLED == ENABLED
Copter::FlightMode_AUTOTUNE flightmode_autotune{*this};
#endif
Copter::FlightMode_CIRCLE flightmode_circle{*this, circle_nav};
Copter::FlightMode_DRIFT flightmode_drift{*this};

View File

@ -663,3 +663,69 @@ private:
Vector3f flip_orig_attitude; // original vehicle attitude before flip
};
#if AUTOTUNE_ENABLED == ENABLED
class FlightMode_AUTOTUNE : public FlightMode {
public:
FlightMode_AUTOTUNE(Copter &copter) :
Copter::FlightMode(copter)
{ }
bool init(bool ignore_checks) override;
void run() override; // should be called at 100hz or more
bool requires_GPS() const override { return false; }
bool has_manual_throttle() const override { return false; }
bool allows_arming(bool from_gcs) const override { return false; };
bool is_autopilot() const override { return false; }
float get_autotune_descent_speed();
bool autotuneing_with_GPS();
void do_not_use_GPS();
void autotune_stop();
void autotune_save_tuning_gains();
protected:
const char *name() const override { return "AUTOTUNE"; }
const char *name4() const override { return "ATUN"; }
private:
bool autotune_start(bool ignore_checks);
void autotune_attitude_control();
void autotune_backup_gains_and_initialise();
void autotune_load_orig_gains();
void autotune_load_tuned_gains();
void autotune_load_intra_test_gains();
void autotune_load_twitch_gains();
void autotune_update_gcs(uint8_t message_id);
bool autotune_roll_enabled();
bool autotune_pitch_enabled();
bool autotune_yaw_enabled();
void autotune_twitching_test(float measurement, float target, float &measurement_min, float &measurement_max);
void autotune_updating_d_up(float &tune_d, float tune_d_min, float tune_d_max, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max);
void autotune_updating_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max);
void autotune_updating_p_down(float &tune_p, float tune_p_min, float tune_p_step_ratio, float target, float measurement_max);
void autotune_updating_p_up(float &tune_p, float tune_p_max, float tune_p_step_ratio, float target, float measurement_max);
void autotune_updating_p_up_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max);
void autotune_twitching_measure_acceleration(float &rate_of_change, float rate_measurement, float &rate_measurement_max);
void autotune_get_poshold_attitude(float &roll_cd, float &pitch_cd, float &yaw_cd);
void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt);
void Log_Write_AutoTuneDetails(float angle_cd, float rate_cds);
void autotune_send_step_string();
const char *autotune_level_issue_string() const;
const char * autotune_type_string() const;
void autotune_announce_state_to_gcs();
void autotune_do_gcs_announcements();
bool autotune_check_level(const enum AUTOTUNE_LEVEL_ISSUE issue, const float current, const float maximum) const;
bool autotune_currently_level();
};
#endif

View File

@ -21,7 +21,7 @@ struct PACKED log_AutoTune {
};
// Write an Autotune data packet
void Copter::Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt)
void Copter::FlightMode_AUTOTUNE::Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt)
{
struct log_AutoTune pkt = {
LOG_PACKET_HEADER_INIT(LOG_AUTOTUNE_MSG),
@ -36,7 +36,7 @@ void Copter::Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_targ
new_gain_sp : new_gain_sp,
new_ddt : new_ddt
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
_copter.DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_AutoTuneDetails {
@ -47,7 +47,7 @@ struct PACKED log_AutoTuneDetails {
};
// Write an Autotune data packet
void Copter::Log_Write_AutoTuneDetails(float angle_cd, float rate_cds)
void Copter::FlightMode_AUTOTUNE::Log_Write_AutoTuneDetails(float angle_cd, float rate_cds)
{
struct log_AutoTuneDetails pkt = {
LOG_PACKET_HEADER_INIT(LOG_AUTOTUNEDETAILS_MSG),
@ -55,7 +55,7 @@ void Copter::Log_Write_AutoTuneDetails(float angle_cd, float rate_cds)
angle_cd : angle_cd,
rate_cds : rate_cds
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
_copter.DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
#endif

View File

@ -175,7 +175,7 @@ static struct {
} autotune_level_problem;
// autotune_init - should be called when autotune mode is selected
bool Copter::autotune_init(bool ignore_checks)
bool Copter::FlightMode_AUTOTUNE::init(bool ignore_checks)
{
bool success = true;
@ -220,14 +220,14 @@ bool Copter::autotune_init(bool ignore_checks)
}
// only do position hold if starting autotune from LOITER or POSHOLD
autotune_state.use_poshold = (control_mode == LOITER || control_mode == POSHOLD);
autotune_state.use_poshold = (_copter.control_mode == LOITER || _copter.control_mode == POSHOLD);
autotune_state.have_position = false;
return success;
}
// autotune_stop - should be called when the ch7/ch8 switch is switched OFF
void Copter::autotune_stop()
void Copter::FlightMode_AUTOTUNE::autotune_stop()
{
// set gains to their original values
autotune_load_orig_gains();
@ -244,11 +244,11 @@ void Copter::autotune_stop()
}
// autotune_start - Initialize autotune flight mode
bool Copter::autotune_start(bool ignore_checks)
bool Copter::FlightMode_AUTOTUNE::autotune_start(bool ignore_checks)
{
// only allow flip from Stabilize, AltHold, PosHold or Loiter modes
if (control_mode != STABILIZE && control_mode != ALT_HOLD &&
control_mode != LOITER && control_mode != POSHOLD) {
if (_copter.control_mode != STABILIZE && _copter.control_mode != ALT_HOLD &&
_copter.control_mode != LOITER && _copter.control_mode != POSHOLD) {
return false;
}
@ -275,7 +275,7 @@ bool Copter::autotune_start(bool ignore_checks)
return true;
}
const char *Copter::autotune_level_issue_string() const
const char *Copter::FlightMode_AUTOTUNE::autotune_level_issue_string() const
{
switch (autotune_level_problem.issue) {
case Copter::AUTOTUNE_LEVEL_ISSUE_NONE:
@ -296,7 +296,7 @@ const char *Copter::autotune_level_issue_string() const
return "Bug";
}
void Copter::autotune_send_step_string()
void Copter::FlightMode_AUTOTUNE::autotune_send_step_string()
{
if (autotune_state.pilot_override) {
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: Paused: Pilot Override Active");
@ -316,7 +316,7 @@ void Copter::autotune_send_step_string()
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: unknown step");
}
const char *Copter::autotune_type_string() const
const char *Copter::FlightMode_AUTOTUNE::autotune_type_string() const
{
switch (autotune_state.tune_type) {
case AUTOTUNE_TYPE_RD_UP:
@ -333,7 +333,7 @@ const char *Copter::autotune_type_string() const
return "Bug";
}
void Copter::autotune_do_gcs_announcements()
void Copter::FlightMode_AUTOTUNE::autotune_do_gcs_announcements()
{
const uint32_t now = millis();
if (now - autotune_announce_time < AUTOTUNE_ANNOUNCE_INTERVAL_MS) {
@ -394,7 +394,7 @@ void Copter::autotune_do_gcs_announcements()
// autotune_run - runs the autotune flight mode
// should be called at 100hz or more
void Copter::autotune_run()
void Copter::FlightMode_AUTOTUNE::run()
{
float target_roll, target_pitch;
float target_yaw_rate;
@ -420,7 +420,7 @@ void Copter::autotune_run()
update_simple_mode();
// get pilot desired lean angles
get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, aparm.angle_max);
get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, _copter.aparm.angle_max);
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
@ -501,7 +501,7 @@ void Copter::autotune_run()
}
}
bool Copter::autotune_check_level(const Copter::AUTOTUNE_LEVEL_ISSUE issue, const float current, const float maximum) const
bool Copter::FlightMode_AUTOTUNE::autotune_check_level(const Copter::AUTOTUNE_LEVEL_ISSUE issue, const float current, const float maximum) const
{
if (current > maximum) {
autotune_level_problem.current = current;
@ -512,7 +512,7 @@ bool Copter::autotune_check_level(const Copter::AUTOTUNE_LEVEL_ISSUE issue, cons
return true;
}
bool Copter::autotune_currently_level()
bool Copter::FlightMode_AUTOTUNE::autotune_currently_level()
{
if (!autotune_check_level(Copter::AUTOTUNE_LEVEL_ISSUE_ANGLE_ROLL,
labs(ahrs.roll_sensor - autotune_roll_cd),
@ -549,7 +549,7 @@ bool Copter::autotune_currently_level()
}
// autotune_attitude_controller - sets attitude control targets during tuning
void Copter::autotune_attitude_control()
void Copter::FlightMode_AUTOTUNE::autotune_attitude_control()
{
rotation_rate = 0.0f; // rotation rate in radians/second
lean_angle = 0.0f;
@ -733,7 +733,7 @@ void Copter::autotune_attitude_control()
// log this iterations lean angle and rotation rate
Log_Write_AutoTuneDetails(lean_angle, rotation_rate);
DataFlash.Log_Write_Rate(ahrs, *motors, *attitude_control, *pos_control);
_copter.DataFlash.Log_Write_Rate(ahrs, *motors, *attitude_control, *pos_control);
break;
case AUTOTUNE_STEP_UPDATE_GAINS:
@ -953,7 +953,7 @@ void Copter::autotune_attitude_control()
// autotune_backup_gains_and_initialise - store current gains as originals
// called before tuning starts to backup original gains
void Copter::autotune_backup_gains_and_initialise()
void Copter::FlightMode_AUTOTUNE::autotune_backup_gains_and_initialise()
{
// initialise state because this is our first time
if (autotune_roll_enabled()) {
@ -1011,7 +1011,7 @@ void Copter::autotune_backup_gains_and_initialise()
// autotune_load_orig_gains - set gains to their original values
// called by autotune_stop and autotune_failed functions
void Copter::autotune_load_orig_gains()
void Copter::FlightMode_AUTOTUNE::autotune_load_orig_gains()
{
attitude_control->bf_feedforward(orig_bf_feedforward);
if (autotune_roll_enabled()) {
@ -1045,7 +1045,7 @@ void Copter::autotune_load_orig_gains()
}
// autotune_load_tuned_gains - load tuned gains
void Copter::autotune_load_tuned_gains()
void Copter::FlightMode_AUTOTUNE::autotune_load_tuned_gains()
{
if (!attitude_control->get_bf_feedforward()) {
attitude_control->bf_feedforward(true);
@ -1084,7 +1084,7 @@ void Copter::autotune_load_tuned_gains()
// autotune_load_intra_test_gains - gains used between tests
// called during testing mode's update-gains step to set gains ahead of return-to-level step
void Copter::autotune_load_intra_test_gains()
void Copter::FlightMode_AUTOTUNE::autotune_load_intra_test_gains()
{
// we are restarting tuning so reset gains to tuning-start gains (i.e. low I term)
// sanity check the gains
@ -1112,7 +1112,7 @@ void Copter::autotune_load_intra_test_gains()
// autotune_load_twitch_gains - load the to-be-tested gains for a single axis
// called by autotune_attitude_control() just before it beings testing a gain (i.e. just before it twitches)
void Copter::autotune_load_twitch_gains()
void Copter::FlightMode_AUTOTUNE::autotune_load_twitch_gains()
{
switch (autotune_state.axis) {
case AUTOTUNE_AXIS_ROLL:
@ -1139,7 +1139,7 @@ void Copter::autotune_load_twitch_gains()
// autotune_save_tuning_gains - save the final tuned gains for each axis
// save discovered gains to eeprom if autotuner is enabled (i.e. switch is in the high position)
void Copter::autotune_save_tuning_gains()
void Copter::FlightMode_AUTOTUNE::autotune_save_tuning_gains()
{
// if we successfully completed tuning
if (autotune_state.mode == AUTOTUNE_MODE_SUCCESS) {
@ -1227,7 +1227,7 @@ void Copter::autotune_save_tuning_gains()
}
// autotune_update_gcs - send message to ground station
void Copter::autotune_update_gcs(uint8_t message_id)
void Copter::FlightMode_AUTOTUNE::autotune_update_gcs(uint8_t message_id)
{
switch (message_id) {
case AUTOTUNE_MESSAGE_STARTED:
@ -1249,21 +1249,21 @@ void Copter::autotune_update_gcs(uint8_t message_id)
}
// axis helper functions
inline bool Copter::autotune_roll_enabled() {
inline bool Copter::FlightMode_AUTOTUNE::autotune_roll_enabled() {
return g.autotune_axis_bitmask & AUTOTUNE_AXIS_BITMASK_ROLL;
}
inline bool Copter::autotune_pitch_enabled() {
inline bool Copter::FlightMode_AUTOTUNE::autotune_pitch_enabled() {
return g.autotune_axis_bitmask & AUTOTUNE_AXIS_BITMASK_PITCH;
}
inline bool Copter::autotune_yaw_enabled() {
inline bool Copter::FlightMode_AUTOTUNE::autotune_yaw_enabled() {
return g.autotune_axis_bitmask & AUTOTUNE_AXIS_BITMASK_YAW;
}
// autotune_twitching_test - twitching tests
// update min and max and test for end conditions
void Copter::autotune_twitching_test(float measurement, float target, float &measurement_min, float &measurement_max)
void Copter::FlightMode_AUTOTUNE::autotune_twitching_test(float measurement, float target, float &measurement_min, float &measurement_max)
{
// capture maximum measurement
if (measurement > measurement_max) {
@ -1303,7 +1303,7 @@ void Copter::autotune_twitching_test(float measurement, float target, float &mea
// autotune_updating_d_up - increase D and adjust P to optimize the D term for a little bounce back
// optimize D term while keeping the maximum just below the target by adjusting P
void Copter::autotune_updating_d_up(float &tune_d, float tune_d_min, float tune_d_max, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max)
void Copter::FlightMode_AUTOTUNE::autotune_updating_d_up(float &tune_d, float tune_d_min, float tune_d_max, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max)
{
if (measurement_max > target) {
// if maximum measurement was higher than target
@ -1358,7 +1358,7 @@ void Copter::autotune_updating_d_up(float &tune_d, float tune_d_min, float tune_
// autotune_updating_d_down - decrease D and adjust P to optimize the D term for no bounce back
// optimize D term while keeping the maximum just below the target by adjusting P
void Copter::autotune_updating_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max)
void Copter::FlightMode_AUTOTUNE::autotune_updating_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max)
{
if (measurement_max > target) {
// if maximum measurement was higher than target
@ -1413,7 +1413,7 @@ void Copter::autotune_updating_d_down(float &tune_d, float tune_d_min, float tun
// autotune_updating_p_down - decrease P until we don't reach the target before time out
// P is decreased to ensure we are not overshooting the target
void Copter::autotune_updating_p_down(float &tune_p, float tune_p_min, float tune_p_step_ratio, float target, float measurement_max)
void Copter::FlightMode_AUTOTUNE::autotune_updating_p_down(float &tune_p, float tune_p_min, float tune_p_step_ratio, float target, float measurement_max)
{
if (measurement_max < target*(1+0.5f*g.autotune_aggressiveness)) {
if (autotune_state.ignore_next == false) {
@ -1442,7 +1442,7 @@ void Copter::autotune_updating_p_down(float &tune_p, float tune_p_min, float tun
// autotune_updating_p_up - increase P to ensure the target is reached
// P is increased until we achieve our target within a reasonable time
void Copter::autotune_updating_p_up(float &tune_p, float tune_p_max, float tune_p_step_ratio, float target, float measurement_max)
void Copter::FlightMode_AUTOTUNE::autotune_updating_p_up(float &tune_p, float tune_p_max, float tune_p_step_ratio, float target, float measurement_max)
{
if (measurement_max > target*(1+0.5f*g.autotune_aggressiveness)) {
// ignore the next result unless it is the same as this one
@ -1471,7 +1471,7 @@ void Copter::autotune_updating_p_up(float &tune_p, float tune_p_max, float tune_
// autotune_updating_p_up - increase P to ensure the target is reached while checking bounce back isn't increasing
// P is increased until we achieve our target within a reasonable time while reducing D if bounce back increases above the threshold
void Copter::autotune_updating_p_up_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max)
void Copter::FlightMode_AUTOTUNE::autotune_updating_p_up_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max)
{
if (measurement_max > target*(1+0.5f*g.autotune_aggressiveness)) {
// ignore the next result unless it is the same as this one
@ -1520,7 +1520,7 @@ void Copter::autotune_updating_p_up_d_down(float &tune_d, float tune_d_min, floa
}
// autotune_twitching_measure_acceleration - measure rate of change of measurement
void Copter::autotune_twitching_measure_acceleration(float &rate_of_change, float rate_measurement, float &rate_measurement_max)
void Copter::FlightMode_AUTOTUNE::autotune_twitching_measure_acceleration(float &rate_of_change, float rate_measurement, float &rate_measurement_max)
{
if (rate_measurement_max < rate_measurement) {
rate_measurement_max = rate_measurement;
@ -1529,7 +1529,7 @@ void Copter::autotune_twitching_measure_acceleration(float &rate_of_change, floa
}
// get attitude for slow position hold in autotune mode
void Copter::autotune_get_poshold_attitude(float &roll_cd, float &pitch_cd, float &yaw_cd)
void Copter::FlightMode_AUTOTUNE::autotune_get_poshold_attitude(float &roll_cd, float &pitch_cd, float &yaw_cd)
{
roll_cd = pitch_cd = 0;
@ -1539,7 +1539,7 @@ void Copter::autotune_get_poshold_attitude(float &roll_cd, float &pitch_cd, floa
}
// do we know where we are?
if (!position_ok()) {
if (!_copter.position_ok()) {
return;
}

View File

@ -125,7 +125,10 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
#if AUTOTUNE_ENABLED == ENABLED
case AUTOTUNE:
success = autotune_init(ignore_checks);
success = flightmode_autotune.init(ignore_checks);
if (success) {
flightmode = &flightmode_autotune;
}
break;
#endif
@ -221,12 +224,6 @@ void Copter::update_flight_mode()
switch (control_mode) {
#if AUTOTUNE_ENABLED == ENABLED
case AUTOTUNE:
autotune_run();
break;
#endif
#if POSHOLD_ENABLED == ENABLED
case POSHOLD:
poshold_run();
@ -264,7 +261,7 @@ void Copter::exit_mode(control_mode_t old_control_mode, control_mode_t new_contr
{
#if AUTOTUNE_ENABLED == ENABLED
if (old_control_mode == AUTOTUNE) {
autotune_stop();
flightmode_autotune.autotune_stop();
}
#endif
@ -381,9 +378,6 @@ void Copter::notify_flight_mode()
// set flight mode string
switch (control_mode) {
case AUTOTUNE:
notify.set_flight_mode_str("ATUN");
break;
case POSHOLD:
notify.set_flight_mode_str("PHLD");
break;

View File

@ -246,7 +246,7 @@ void Copter::init_disarm_motors()
#if AUTOTUNE_ENABLED == ENABLED
// save auto tuned parameters
autotune_save_tuning_gains();
flightmode_autotune.autotune_save_tuning_gains();
#endif
// we are not in the air