From c0d2c15ac88dfdb9c8e9ba09351f29be4793e4af Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sun, 4 Aug 2024 23:37:09 +0100
Subject: [PATCH] Copter: autotune: allow access to autotune object and call
 through for disarm and aux function

---
 ArduCopter/AP_Arming.cpp     |  8 ++------
 ArduCopter/RC_Channel.cpp    |  8 ++++++--
 ArduCopter/mode.h            |  8 +-------
 ArduCopter/mode_autotune.cpp | 10 ----------
 4 files changed, 9 insertions(+), 25 deletions(-)

diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index 119971f059..eecef0394c 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/ArduCopter/AP_Arming.cpp
@@ -809,12 +809,8 @@ bool AP_Arming_Copter::disarm(const AP_Arming::Method method, bool do_disarm_che
     }
 
 #if AUTOTUNE_ENABLED == ENABLED
-    // save auto tuned parameters
-    if (copter.flightmode == &copter.mode_autotune) {
-        copter.mode_autotune.save_tuning_gains();
-    } else {
-        copter.mode_autotune.reset();
-    }
+    // Possibly save auto tuned parameters
+    copter.mode_autotune.autotune.disarmed(copter.flightmode == &copter.mode_autotune);
 #endif
 
     // we are not in the air
diff --git a/ArduCopter/RC_Channel.cpp b/ArduCopter/RC_Channel.cpp
index e0cf6905d3..0ae33562a8 100644
--- a/ArduCopter/RC_Channel.cpp
+++ b/ArduCopter/RC_Channel.cpp
@@ -76,7 +76,8 @@ void RC_Channel_Copter::init_aux_function(const AUX_FUNC ch_option, const AuxSwi
     // the following functions do not need to be initialised:
     case AUX_FUNC::ALTHOLD:
     case AUX_FUNC::AUTO:
-    case AUX_FUNC::AUTOTUNE:
+    case AUX_FUNC::AUTOTUNE_MODE:
+    case AUX_FUNC::AUTOTUNE_TEST_GAINS:
     case AUX_FUNC::BRAKE:
     case AUX_FUNC::CIRCLE:
     case AUX_FUNC::DRIFT:
@@ -291,9 +292,12 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
 #endif
 
 #if AUTOTUNE_ENABLED == ENABLED
-        case AUX_FUNC::AUTOTUNE:
+        case AUX_FUNC::AUTOTUNE_MODE:
             do_aux_function_change_mode(Mode::Number::AUTOTUNE, ch_flag);
             break;
+        case AUX_FUNC::AUTOTUNE_TEST_GAINS:
+            copter.mode_autotune.autotune.do_aux_function(ch_flag);
+            break;
 #endif
 
         case AUX_FUNC::LAND:
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index 11b2a64410..0c8bc6b058 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -796,18 +796,12 @@ public:
     bool allows_arming(AP_Arming::Method method) const override { return false; }
     bool is_autopilot() const override { return false; }
 
-    void save_tuning_gains();
-    void reset();
+    AutoTune autotune;
 
 protected:
 
     const char *name() const override { return "AUTOTUNE"; }
     const char *name4() const override { return "ATUN"; }
-
-private:
-
-    AutoTune autotune;
-
 };
 #endif
 
diff --git a/ArduCopter/mode_autotune.cpp b/ArduCopter/mode_autotune.cpp
index d7d0d2e470..04a2b88bda 100644
--- a/ArduCopter/mode_autotune.cpp
+++ b/ArduCopter/mode_autotune.cpp
@@ -118,19 +118,9 @@ void ModeAutoTune::run()
     autotune.run();
 }
 
-void ModeAutoTune::save_tuning_gains()
-{
-    autotune.save_tuning_gains();
-}
-
 void ModeAutoTune::exit()
 {
     autotune.stop();
 }
 
-void ModeAutoTune::reset()
-{
-    autotune.reset();
-}
-
 #endif  // AUTOTUNE_ENABLED == ENABLED