Copter: Autotune: Reduce chance of desync

lthall · Feb 17, 2024 · 218ebb2 · 218ebb2
1 parent 7a9b968
commit 218ebb2
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
@@ -1145,9 +1145,9 @@ void AC_AutoTune_Multi::twitch_test_run(AxisType test_axis, const float dir_sign
     // disable rate limits
     attitude_control->use_sqrt_controller(false);
     // hold current attitude
-    attitude_control->input_rate_bf_roll_pitch_yaw(0.0f, 0.0f, 0.0f);
 
     if ((tune_type == SP_DOWN) || (tune_type == SP_UP)) {
+        attitude_control->input_rate_bf_roll_pitch_yaw(0.0f, 0.0f, 0.0f);
         // step angle targets on first iteration
         if (twitch_first_iter) {
             twitch_first_iter = false;
@@ -1169,6 +1169,7 @@ void AC_AutoTune_Multi::twitch_test_run(AxisType test_axis, const float dir_sign
             }
         }
     } else {
+        attitude_control->input_rate_bf_roll_pitch_yaw_2(0.0f, 0.0f, 0.0f);
         // Testing rate P and D gains so will set body-frame rate targets.
         // Rate controller will use existing body-frame rates and convert to motor outputs
         // for all axes except the one we override here.