Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-02-06 14:47:49 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

fw-atune: fix immediate failure on first try

Browse Source 
The flight mode needs to be updated before starting the autotune,
otherwise it appears as a mode change and aborts the autotune
This commit is contained in:
bresch
2025-07-30 14:57:53 +02:00
committed by Mathieu Bresciani
parent 8c6337e94e
commit 77e8ccaf6a
1 changed files with 9 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp
View File

@@ -98,15 +98,6 @@ void FwAutotuneAttitudeControl::Run()
updateStateMachine(hrt_absolute_time());
}
_aux_switch_en = isAuxEnableSwitchEnabled();
// new control data needed every iteration
if ((_state == state::idle && !_aux_switch_en)
|| !_vehicle_torque_setpoint_sub.updated()) {
return;
}
if (_vehicle_status_sub.updated()) {
vehicle_status_s vehicle_status;
@@ -116,6 +107,15 @@ void FwAutotuneAttitudeControl::Run()
}
}
_aux_switch_en = isAuxEnableSwitchEnabled();
// new control data needed every iteration
if ((_state == state::idle && !_aux_switch_en)
|| !_vehicle_torque_setpoint_sub.updated()) {
return;
}
if (_actuator_controls_status_sub.updated()) {
actuator_controls_status_s controls_status;