AC_AutoTune: use failed state to exit

libraries/AC_AutoTune/AC_AutoTune.h

@@ -231,6 +231,15 @@ protected:
     };
     void load_gains(enum GainType gain_type);
 
+    // autotune modes (high level states)
+    enum TuneMode {
+        UNINITIALISED = 0,        // autotune has never been run
+        TUNING = 1,               // autotune is testing gains
+        SUCCESS = 2,              // tuning has completed, user is flight testing the new gains
+        FAILED = 3,               // tuning has failed, user is flying on original gains
+    };
+    TuneMode mode;                       // see TuneMode for what modes are allowed
+
     // copies of object pointers to make code a bit clearer
     AC_AttitudeControl *attitude_control;
     AC_PosControl *pos_control;
@@ -301,15 +310,6 @@ private:
     // returns true if vehicle is close to level
     bool currently_level();
 
-    // autotune modes (high level states)
-    enum TuneMode {
-        UNINITIALISED = 0,        // autotune has never been run
-        TUNING = 1,               // autotune is testing gains
-        SUCCESS = 2,              // tuning has completed, user is flight testing the new gains
-        FAILED = 3,               // tuning has failed, user is flying on original gains
-    };
-
-    TuneMode mode;                       // see TuneMode for what modes are allowed
     bool     pilot_override;             // true = pilot is overriding controls so we suspend tuning temporarily
     bool     use_poshold;                // true = enable position hold
     bool     have_position;              // true = start_position is value

libraries/AC_AutoTune/AC_AutoTune_Heli.cpp

@@ -217,7 +217,7 @@ void AC_AutoTune_Heli::test_run(AxisType test_axis, const float dir_sign)
        (tune_type == RD_UP && max_rate_d.max_allowed <= 0.0f) ||
        ((tune_type == MAX_GAINS || tune_type == RP_UP || tune_type == RD_UP || tune_type == SP_UP) && exceeded_freq_range(start_freq))){
 
-        load_gains(GAIN_INTRA_TEST);
+        load_gains(GAIN_ORIGINAL);
 
         attitude_control->use_sqrt_controller(true);
 
@@ -227,14 +227,15 @@ void AC_AutoTune_Heli::test_run(AxisType test_axis, const float dir_sign)
         attitude_control->input_euler_angle_roll_pitch_yaw(roll_cd, pitch_cd, desired_yaw_cd, true);
 
         if ((tune_type == RP_UP && max_rate_p.max_allowed <= 0.0f) || (tune_type == RD_UP && max_rate_d.max_allowed <= 0.0f)) {
-            gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: Max Gains Failed, Skip Rate P/D Tuning");
-            counter = AUTOTUNE_SUCCESS_COUNT;
-            step = UPDATE_GAINS;
+            gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: Max Gain Determination Failed");
+            mode = FAILED;
+            AP::logger().Write_Event(LogEvent::AUTOTUNE_FAILED);
+            update_gcs(AUTOTUNE_MESSAGE_FAILED);
         } else if ((tune_type == MAX_GAINS || tune_type == RP_UP || tune_type == RD_UP || tune_type == SP_UP) && exceeded_freq_range(start_freq)){
             gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: Exceeded frequency range");
-            AP::logger().Write_Event(LogEvent::AUTOTUNE_REACHED_LIMIT);
-            counter = AUTOTUNE_SUCCESS_COUNT;
-            step = UPDATE_GAINS;
+            mode = FAILED;
+            AP::logger().Write_Event(LogEvent::AUTOTUNE_FAILED);
+            update_gcs(AUTOTUNE_MESSAGE_FAILED);
         } else if (tune_type == TUNE_COMPLETE) {
             counter = AUTOTUNE_SUCCESS_COUNT;
             step = UPDATE_GAINS;