AC_Autotune: Clean up Multi Variables and non functional changes

libraries/AC_AutoTune/AC_AutoTune.cpp

@@ -134,6 +134,9 @@ void AC_AutoTune::send_step_string()
     case UPDATE_GAINS:
         gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: Updating Gains");
         return;
+    case ABORT:
+        gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: Aborting Test");
+        return;
     case TESTING:
         gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: Testing");
         return;
@@ -340,13 +343,6 @@ void AC_AutoTune::control_attitude()
             step_start_time_ms = now;
             step_time_limit_ms = get_testing_step_timeout_ms();
             // set gains to their to-be-tested values
-            twitch_first_iter = true;
-            test_rate_max = 0.0f;
-            test_rate_min = 0.0f;
-            test_angle_max = 0.0f;
-            test_angle_min = 0.0f;
-            rotation_rate_filt.reset(0.0f);
-            rate_max = 0.0f;
             load_gains(GAIN_TEST);
         } else {
             // when waiting for level we use the intra-test gains
@@ -356,18 +352,15 @@ void AC_AutoTune::control_attitude()
         // Initialize test-specific variables
         switch (axis) {
         case ROLL:
-            angle_finish = target_angle_max_rp_cd();
             start_rate = ToDeg(ahrs_view->get_gyro().x) * 100.0f;
             start_angle = ahrs_view->roll_sensor;
             break;
         case PITCH:
-            angle_finish = target_angle_max_rp_cd();
             start_rate = ToDeg(ahrs_view->get_gyro().y) * 100.0f;
             start_angle = ahrs_view->pitch_sensor;
             break;
         case YAW:
         case YAW_D:
-            angle_finish = target_angle_max_y_cd();
             start_rate = ToDeg(ahrs_view->get_gyro().z) * 100.0f;
             start_angle = ahrs_view->yaw_sensor;
             break;
@@ -537,7 +530,9 @@ void AC_AutoTune::control_attitude()
                 }
             }
         }
+        FALLTHROUGH;
 
+    case ABORT:
         if (axis == YAW || axis == YAW_D) {
             attitude_control->input_euler_angle_roll_pitch_yaw(0.0f, 0.0f, ahrs_view->yaw_sensor, false);
         }

libraries/AC_AutoTune/AC_AutoTune.h

@@ -197,7 +197,8 @@ class AC_AutoTune
     enum StepType {
         WAITING_FOR_LEVEL = 0,    // autotune is waiting for vehicle to return to level before beginning the next twitch
         TESTING           = 1,    // autotune has begun a test and is watching the resulting vehicle movement
-        UPDATE_GAINS      = 2     // autotune has completed a test and is updating the gains based on the results
+        UPDATE_GAINS      = 2,    // autotune has completed a test and is updating the gains based on the results
+        ABORT             = 3     // load normal gains and return to WAITING_FOR_LEVEL
     };
 
     // mini steps performed while in Tuning mode, Testing step
@@ -259,26 +260,18 @@ class AC_AutoTune
     bool     positive_direction;         // false = tuning in negative direction (i.e. left for roll), true = positive direction (i.e. right for roll)
     StepType step;                       // see StepType for what steps are performed
     TuneType tune_type;                  // see TuneType
-    bool     ignore_next;                // true = ignore the next test
     bool     twitch_first_iter;          // true on first iteration of a twitch (used to signal we must step the attitude or rate target)
     uint8_t  axes_completed;             // bitmask of completed axes
-    float    test_rate_min;                         // the minimum angular rate achieved during TESTING_RATE step-multi only
-    float    test_rate_max;                         // the maximum angular rate achieved during TESTING_RATE step-multi only
-    float    test_angle_min;                        // the minimum angle achieved during TESTING_ANGLE step-multi only
-    float    test_angle_max;                        // the maximum angle achieved during TESTING_ANGLE step-multi only
     uint32_t step_start_time_ms;                    // start time of current tuning step (used for timeout checks)
     uint32_t step_time_limit_ms;                    // time limit of current autotune process
     uint32_t level_start_time_ms;                   // start time of waiting for level
     int8_t   counter;                               // counter for tuning gains
-    float    target_rate;                           // target rate-multi only
-    float    target_angle;                          // target angle-multi only
-    float    start_rate;                            // start rate - parent and multi
     float    start_angle;                           // start angle
-    float    rate_max;                              // maximum rate variable - parent and multi
+    float    start_rate;                            // start rate - parent and multi
     float    test_accel_max;                        // maximum acceleration variable
-    float    step_scaler;                           // scaler to reduce maximum target step - parent and multi
-    float    angle_finish;                           // Angle that test is aborted- parent and multi
+
     float    desired_yaw_cd;                        // yaw heading during tune - parent and Tradheli
+    float    step_scaler;                           // scaler to reduce maximum target step - parent and multi
 
     LowPassFilterFloat  rotation_rate_filt;         // filtered rotation rate in radians/second
 
@@ -301,8 +294,8 @@ class AC_AutoTune
 
     // heli specific variables
     uint8_t  freq_cnt;                              // dwell test iteration counter
-    float    start_freq;                            //start freq for dwell test
-    float    stop_freq;                             //ending freq for dwell test
+    float    start_freq;                            // start freq for dwell test
+    float    stop_freq;                             // ending freq for dwell test
     bool     ff_up_first_iter;                      // true on first iteration of ff up testing
 
 private: