AC_AutoTune: reset step_scaler between tune types

2018-12-22 11:03:18 +11:00 · 2018-12-22 11:03:18 +11:00 · d0bc1520f6
commit d0bc1520f6
parent d6a23fd22a
1 changed files with 4 additions and 0 deletions
--- a/libraries/AC_AutoTune/AC_AutoTune.cpp
+++ b/libraries/AC_AutoTune/AC_AutoTune.cpp
@ -769,6 +769,9 @@ void AC_AutoTune::control_attitude()
            // reset counter
            counter = 0;

+            // reset scaling factor
+            step_scaler = 1;
+
            // move to the next tuning type
            switch (tune_type) {
            case RD_UP:
@ -898,6 +901,7 @@ void AC_AutoTune::backup_gains_and_initialise()
    step_start_time_ms = AP_HAL::millis();
    level_start_time_ms = step_start_time_ms;
    tune_type = RD_UP;
+    step_scaler = 1;

    desired_yaw_cd = ahrs_view->yaw_sensor;