Plane: Qautotune: use new disarmed call and add new aux function

ArduPilot · Aug 12, 2024 · 698f8fb · 698f8fb
1 parent f6da3ce
commit 698f8fb
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Showing 2 changed files with 11 additions and 6 deletions.
diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
@@ -370,12 +370,8 @@ bool AP_Arming_Plane::disarm(const AP_Arming::Method method, bool do_disarm_chec
     change_arm_state();
 
 #if QAUTOTUNE_ENABLED
-    //save qautotune gains if enabled and success
-    if (plane.control_mode == &plane.mode_qautotune) {
-        plane.quadplane.qautotune.save_tuning_gains();
-    } else {
-        plane.quadplane.qautotune.reset();
-    }
+    // Possibly save auto tuned parameters
+    plane.quadplane.qautotune.disarmed(plane.control_mode == &plane.mode_qautotune);
 #endif
 
     // re-initialize speed variable used in AUTO and GUIDED for

diff --git a/ArduPlane/RC_Channel.cpp b/ArduPlane/RC_Channel.cpp
@@ -169,6 +169,9 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::AUX_FUNC ch_option,
     case AUX_FUNC::FW_AUTOTUNE:
     case AUX_FUNC::VFWD_THR_OVERRIDE:
     case AUX_FUNC::PRECISION_LOITER:
+#if QAUTOTUNE_ENABLED
+    case AUX_FUNC::AUTOTUNE_TEST_GAINS:
+#endif
         break;
 
     case AUX_FUNC::SOARING:
@@ -441,6 +444,12 @@ bool RC_Channel_Plane::do_aux_function(const AUX_FUNC ch_option, const AuxSwitch
         // handled by lua scripting, just ignore here
         break;
 
+#if QAUTOTUNE_ENABLED
+    case AUX_FUNC::AUTOTUNE_TEST_GAINS:
+        plane.quadplane.qautotune.do_aux_function(ch_flag);
+        break;
+#endif
+
     default:
         return RC_Channel::do_aux_function(ch_option, ch_flag);
     }