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Modified behavior of G-Tune switch and storing the tuned P values
G-Tune documentation update G-Tune will only activated and deactivated when armed. G-Tune should deactivated while the copter is airborne. Tuned P values will only be stored when G-Tune is enabled while disarmed and G-Tune was used before.
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3 changed files with 10 additions and 10 deletions
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@ -168,18 +168,18 @@ void updateGtuneState(void)
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static bool GTuneWasUsed = false;
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if (IS_RC_MODE_ACTIVE(BOXGTUNE)) {
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if (!FLIGHT_MODE(GTUNE_MODE)) {
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ENABLE_FLIGHT_MODE(GTUNE_MODE);
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if (!FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
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ENABLE_FLIGHT_MODE(GTUNE_MODE);
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init_Gtune(¤tProfile->pidProfile);
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GTuneWasUsed = true;
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}
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if (!FLIGHT_MODE(GTUNE_MODE) && !ARMING_FLAG(ARMED) && GTuneWasUsed) {
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saveConfigAndNotify();
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GTuneWasUsed = false;
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}
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} else {
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if (FLIGHT_MODE(GTUNE_MODE)) {
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if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
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DISABLE_FLIGHT_MODE(GTUNE_MODE);
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if (!ARMING_FLAG(ARMED) && GTuneWasUsed) {
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saveConfigAndNotify();
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GTuneWasUsed = false;
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}
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}
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}
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}
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