Copter: autotune entry checks moved to init

ArduCopter/mode.h

@@ -550,7 +550,6 @@ public:
     void run() override;
 
 protected:
-    bool start(void) override;
     bool position_ok() override;
     float get_pilot_desired_climb_rate_cms(void) const override;
     void get_pilot_desired_rp_yrate_cd(float &roll_cd, float &pitch_cd, float &yaw_rate_cds) override;

ArduCopter/mode_autotune.cpp

@@ -7,21 +7,6 @@
 #if AUTOTUNE_ENABLED == ENABLED
 
 bool AutoTune::init()
-{
-    // use position hold while tuning if we were in QLOITER
-    bool position_hold = (copter.flightmode->mode_number() == Mode::Number::LOITER || copter.flightmode->mode_number() == Mode::Number::POSHOLD);
-
-    return init_internals(position_hold,
-                          copter.attitude_control,
-                          copter.pos_control,
-                          copter.ahrs_view,
-                          &copter.inertial_nav);
-}
-
-/*
-  start autotune mode
- */
-bool AutoTune::start()
 {
     // only allow AutoTune from some flight modes, for example Stabilize, AltHold,  PosHold or Loiter modes
     if (!copter.flightmode->allows_autotune()) {
@@ -38,7 +23,14 @@ bool AutoTune::start()
         return false;
     }
 
-    return AC_AutoTune::start();
+    // use position hold while tuning if we were in QLOITER
+    bool position_hold = (copter.flightmode->mode_number() == Mode::Number::LOITER || copter.flightmode->mode_number() == Mode::Number::POSHOLD);
+
+    return init_internals(position_hold,
+                          copter.attitude_control,
+                          copter.pos_control,
+                          copter.ahrs_view,
+                          &copter.inertial_nav);
 }
 
 void AutoTune::run()
@@ -128,7 +120,6 @@ bool ModeAutoTune::init(bool ignore_checks)
     return autotune.init();
 }
 
-
 void ModeAutoTune::run()
 {
     autotune.run();