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OpenSource
Baitboat
Commits
f13b4546
Commit
f13b4546
authored
11 years ago
by
Randy Mackay
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Copter: autotune bug fix for restarting tuning from suspended state
parent
5ac3bf49
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ArduCopter/auto_tune.pde
+3
-3
3 additions, 3 deletions
ArduCopter/auto_tune.pde
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3 additions
and
3 deletions
ArduCopter/auto_tune.pde
+
3
−
3
View file @
f13b4546
...
...
@@ -132,9 +132,8 @@ void auto_tune_start()
{
// check we are in stabilize mode
if
(
control_mode
==
STABILIZE
||
control_mode
==
ALT_HOLD
)
{
// reset axis if this is our first time (i.e. we were not just suspended)
if
(
!
auto_tune_state
.
active
)
{
auto_tune_state
.
active
=
true
;
// reset axis if this is our first time
if
(
!
auto_tune_state
.
enabled
)
{
auto_tune_state
.
axis
=
AUTO_TUNE_AXIS_ROLL
;
auto_tune_state
.
positive_direction
=
false
;
auto_tune_state
.
step
=
AUTO_TUNE_STEP_WAITING_FOR_LEVEL
;
...
...
@@ -155,6 +154,7 @@ void auto_tune_start()
// set roll-pitch mode to our special auto tuning stabilize roll-pitch mode
if
(
set_roll_pitch_mode
(
ROLL_PITCH_AUTOTUNE
))
{
auto_tune_state
.
enabled
=
true
;
auto_tune_state
.
active
=
true
;
Log_Write_Event
(
DATA_AUTOTUNE_ON
);
}
}
...
...
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