Copter: Autotune: Reduce chance of desync

lthall · Feb 17, 2024 · 272f8f8 · 272f8f8
1 parent b2aaf71
commit 272f8f8
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/libraries/AC_AutoTune/AC_AutoTune.h b/libraries/AC_AutoTune/AC_AutoTune.h
@@ -330,7 +330,6 @@ class AC_AutoTune
     // variables
     uint32_t override_time;                         // the last time the pilot overrode the controls
     uint32_t level_start_time_ms;                   // start time of waiting for level
-    uint32_t level_fail_warning_time_ms;            // last time level failure warning message was sent to GCS
 
     // time in ms of last pilot override warning
     uint32_t last_pilot_override_warning;

diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
@@ -1147,9 +1147,9 @@ 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;
@@ -1171,6 +1171,7 @@ 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.