From 3fe63d5bc099a0c5a7a5380fbfa23a755105d22b Mon Sep 17 00:00:00 2001
From: Peter Hall <33176108+IamPete1@users.noreply.github.com>
Date: Wed, 1 May 2019 13:27:40 +0100
Subject: [PATCH] Copter: only save autotune gains if disarmed in autotue

---
 ArduCopter/mode.h            | 1 +
 ArduCopter/mode_autotune.cpp | 5 +++++
 ArduCopter/motors.cpp        | 6 +++++-
 3 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index fec37a7662..a996cdeca7 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -499,6 +499,7 @@ public:
 
     void save_tuning_gains();
     void stop();
+    void reset();
 
 protected:
 
diff --git a/ArduCopter/mode_autotune.cpp b/ArduCopter/mode_autotune.cpp
index 1a0382d317..ea914bb7e7 100644
--- a/ArduCopter/mode_autotune.cpp
+++ b/ArduCopter/mode_autotune.cpp
@@ -173,4 +173,9 @@ void Copter::ModeAutoTune::stop()
     copter.autotune.stop();
 }
 
+void Copter::ModeAutoTune::reset()
+{
+    copter.autotune.reset();
+}
+
 #endif  // AUTOTUNE_ENABLED == ENABLED
diff --git a/ArduCopter/motors.cpp b/ArduCopter/motors.cpp
index 9bb0185b3c..c8114d70f3 100644
--- a/ArduCopter/motors.cpp
+++ b/ArduCopter/motors.cpp
@@ -266,7 +266,11 @@ void Copter::init_disarm_motors()
 
 #if AUTOTUNE_ENABLED == ENABLED
     // save auto tuned parameters
-    mode_autotune.save_tuning_gains();
+    if (control_mode == AUTOTUNE) {;
+        mode_autotune.save_tuning_gains();
+    } else {
+        mode_autotune.reset();
+    }
 #endif
 
     // we are not in the air