AC_Autotune: general cleanup

ArduPilot · Apr 24, 2024 · 406cc39 · 406cc39
1 parent e27f3c5
commit 406cc39
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Showing 2 changed files with 9 additions and 9 deletions.
diff --git a/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp b/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
@@ -1158,9 +1158,9 @@ void AC_AutoTune_Heli::updating_rate_ff_up(float &tune_ff, sweep_info &test_data
     float test_freq_incr = 0.05f * M_2PI;
     next_freq = test_data.freq;
     if (test_data.phase > 15.0f) {
-        next_freq -= test_freq_incr;
+        next_freq = constrain_float(next_freq - test_freq_incr, 0.1 * M_2PI, max_sweep_freq);
     } else if (test_data.phase < 0.0f) {
-        next_freq += test_freq_incr;
+        next_freq = constrain_float(next_freq + test_freq_incr, 0.1 * M_2PI, max_sweep_freq);
     } else {
         if ((test_data.gain > 0.1 && test_data.gain < 0.93) || test_data.gain > 0.98) {
             if (tune_ff > 0.0f) {

diff --git a/libraries/AC_AutoTune/AC_AutoTune_Heli.h b/libraries/AC_AutoTune/AC_AutoTune_Heli.h
@@ -45,13 +45,6 @@ class AC_AutoTune_Heli : public AC_AutoTune
     //
     // methods to load and save gains
     //
-    // sweep_info contains information about a specific test's sweep results
-    struct sweep_info {
-        float freq;
-        float gain;
-        float phase;
-    };
-
 
     // backup original gains and prepare for start of tuning
     void backup_gains_and_initialise() override;
@@ -143,6 +136,13 @@ class AC_AutoTune_Heli : public AC_AutoTune
     uint32_t get_testing_step_timeout_ms() const override;
 
 private:
+    // sweep_info contains information about a specific test's sweep results
+    struct sweep_info {
+        float freq;
+        float gain;
+        float phase;
+    };
+
     // max_gain_data type stores information from the max gain test
     struct max_gain_data {
         float freq;