AC_Autotune: Fix gain load problem when mode set to FAILED #30141
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lthall
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rmackay9
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May 23, 2025
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@lthall thanks for the angle P limit reduction for quadplanes! I do think it should be a parameter though. We've seen copters gets hugely excessive angle P which causes issues |
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This PR fixes a serious bug in the Multirotor Autotune where we break the primary rule "Gains are only changed from default (I excepted) during the twitch".
The code is set up such that when a test
step = ABORT;is changed the gains are not changed immediately but instead on the next loop. When we also setmode = FAILED;we don't run the next loop.This is where we set mode to FAILED:
ardupilot/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
Line 580 in d229c8c
This is why the loop doesn't run again:
ardupilot/libraries/AC_AutoTune/AC_AutoTune.cpp
Line 303 in d229c8c