Copter: Autotune: Little tweek to squash

lthall · Feb 18, 2024 · 373f7b3 · 373f7b3
1 parent 8fd228d
commit 373f7b3
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
@@ -511,14 +511,14 @@ void AC_AutoTune_Multi::twitching_test_rate(float rate, float rate_target_max, f
     }
 
     // capture minimum measurement after the measurement has peaked (aka "bounce back")
-    if ((rate < meas_rate_min) && (meas_rate_max > rate_target_max * 0.5f)) {
+    if ((rate < meas_rate_min) && (meas_rate_max > rate_target_max * 0.25)) {
         // the measurement is bouncing back
         meas_rate_min = rate;
     }
 
     // calculate early stopping time based on the time it takes to get to 75%
-    if (meas_rate_max < rate_target_max * 0.75f) {
-        // the measurement not reached the 75% threshold yet
+    if (meas_rate_max < rate_target_max * 63.21) {
+        // the measurement not reached the 63.21% threshold yet
         step_time_limit_ms = (now - step_start_time_ms) * 3;
         step_time_limit_ms = MIN(step_time_limit_ms, AUTOTUNE_TESTING_STEP_TIMEOUT_MS);
     }
@@ -574,7 +574,7 @@ void AC_AutoTune_Multi::twitching_test_angle(float angle, float rate, float angl
     }
 
     // capture minimum angle after we have reached a reasonable maximum angle
-    if ((angle < meas_angle_min) && (meas_angle_max > angle_target_max * 0.5f)) {
+    if ((angle < meas_angle_min) && (meas_angle_max > angle_target_max * 0.25)) {
         // the measurement is bouncing back
         meas_angle_min = angle;
     }
@@ -593,8 +593,8 @@ void AC_AutoTune_Multi::twitching_test_angle(float angle, float rate, float angl
     }
 
     // calculate early stopping time based on the time it takes to get to 75%
-    if (meas_angle_max < angle_target_max * 0.75f) {
-        // the measurement not reached the 75% threshold yet
+    if (meas_angle_max < angle_target_max * 63.21) {
+        // the measurement not reached the 63.21% threshold yet
         step_time_limit_ms = (now - step_start_time_ms) * 3;
         step_time_limit_ms = MIN(step_time_limit_ms, AUTOTUNE_TESTING_STEP_TIMEOUT_MS);
     }