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AC_AutoTune: fix tracking of maximum angular acceleration #28800

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merged 1 commit into from
Dec 5, 2024
+2 −2
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AC_AutoTune: fix tracking of maximum angular acceleration #28800

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2 changes: 1 addition & 1 deletion libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -644,7 +644,7 @@ void AC_AutoTune_Multi::twitching_test_angle(float angle, float rate, float angl
}

// twitching_measure_acceleration - measure rate of change of measurement
void AC_AutoTune_Multi::twitching_measure_acceleration(float &accel_average, float rate, float rate_max) const
void AC_AutoTune_Multi::twitching_measure_acceleration(float &accel_average, float rate, float &rate_max) const
{
if (rate_max < rate) {
rate_max = rate;
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2 changes: 1 addition & 1 deletion libraries/AC_AutoTune/AC_AutoTune_Multi.h
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Original file line number Diff line number Diff line change
Expand Up @@ -156,7 +156,7 @@ class AC_AutoTune_Multi : public AC_AutoTune
void twitching_test_angle(float angle, float rate, float angle_target, float &meas_angle_min, float &meas_angle_max, float &meas_rate_min, float &meas_rate_max);

// measure acceleration during twitch test
void twitching_measure_acceleration(float &accel_average, float rate, float rate_max) const;
void twitching_measure_acceleration(float &accel_average, float rate, float &rate_max) const;

// updating_rate_d_up - increase D and adjust P to optimize the D term for a little bounce back
// optimize D term while keeping the maximum just below the target by adjusting P
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