AC_AutoTune_Heli: fix sweep logic

bnsgeyer · Apr 20, 2024 · 017e316 · 017e316
1 parent 2ab14f0
commit 017e316
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp b/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
@@ -743,7 +743,7 @@ void AC_AutoTune_Heli::dwell_test_init(float start_frq, float stop_frq, float fi
 
     cycle_complete_tgt = false;
     cycle_complete_mtr = false;
-
+    sweep_complete = false;
 
 }
 
@@ -959,6 +959,7 @@ void AC_AutoTune_Heli::dwell_test_run(sweep_info &test_data)
 
         if (now - step_start_time_ms >= sweep_time_ms + 200) {
             // we have passed the maximum stop time
+            sweep_complete = true;
             step = UPDATE_GAINS;
         }
     } else {