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fw-atune: fix immediate failure on first try

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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
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18
src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp
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@ -98,15 +98,6 @@ void FwAutotuneAttitudeControl::Run()
updateStateMachine(hrt_absolute_time()); 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()) { if (_vehicle_status_sub.updated()) {
vehicle_status_s vehicle_status; 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()) { if (_actuator_controls_status_sub.updated()) {
actuator_controls_status_s controls_status; actuator_controls_status_s controls_status;