AP_Scripting: pause quicktune during pilot input

thanks to Marco for the suggestion

libraries/AP_Scripting/applets/VTOL-quicktune.lua

@@ -38,8 +38,17 @@ local QUIK_YAW_D_MAX   = bind_add_param('YAW_D_MAX',      7, 0.01)
 
 local INS_GYRO_FILTER  = bind_param("INS_GYRO_FILTER")
 
+local RCMAP_ROLL       = bind_param("RCMAP_ROLL")
+local RCMAP_PITCH      = bind_param("RCMAP_PITCH")
+local RCMAP_YAW        = bind_param("RCMAP_YAW")
+
+local RCIN_ROLL  = rc:get_channel(RCMAP_ROLL:get())
+local RCIN_PITCH = rc:get_channel(RCMAP_PITCH:get())
+local RCIN_YAW   = rc:get_channel(RCMAP_YAW:get())
+
 local UPDATE_RATE_HZ = 40
 local STAGE_DELAY = 4.0
+local PILOT_INPUT_DELAY = 4.0
 
 local YAW_FLTE_MAX = 2.0
 local FLTD_MUL = 0.5
@@ -72,6 +81,7 @@ local stages = { "D", "P" }
 local stage = stages[1]
 local last_stage_change = get_time()
 local last_gain_report = get_time()
+local last_pilot_input = get_time()
 local slew_parm = nil
 local slew_target = 0
 local slew_delta = 0
@@ -157,6 +167,16 @@ function setup_filters()
    end
 end
 
+-- check for pilot input to pause tune
+function have_pilot_input()
+   if (math.abs(RCIN_ROLL:norm_input_dz()) > 0 or
+       math.abs(RCIN_PITCH:norm_input_dz()) > 0 or
+       math.abs(RCIN_YAW:norm_input_dz()) > 0) then
+      return true
+   end
+   return false
+end
+
 reset_axes_done()
 get_all_params()
 
@@ -294,6 +314,11 @@ function update()
    if quick_switch == nil or QUIK_ENABLE:get() < 1 then
       return
    end
+
+   if have_pilot_input() then
+      last_pilot_input = get_time()
+   end
+
    local sw_pos = quick_switch:get_aux_switch_pos()
    if sw_pos == 0 or not arming:is_armed() or not vehicle:get_likely_flying() then
       -- abort, revert parameters
@@ -336,6 +361,10 @@ function update()
       setup_filters()
    end
 
+   if get_time() - last_pilot_input < PILOT_INPUT_DELAY then
+      return
+   end
+
    local srate = get_slew_rate(axis)
    local pname = get_pname(axis, stage)
    local P = params[pname]

libraries/AP_Scripting/applets/VTOL-quicktune.md

@@ -114,3 +114,5 @@ If you move the switch to the low position at any time in the tune
 then all parameters will be reverted to their original
 values. Parameters will also be reverted if you disarm.
 
+If the pilot gives roll, pitch or yaw input while tuning then the tune
+is paused until 4 seconds after the pilot input stops.