From a0d8c04f3e63a47aaa22a4b6ff77bfd9d5c12da7 Mon Sep 17 00:00:00 2001
From: Peter Hall <33176108+IamPete1@users.noreply.github.com>
Date: Wed, 1 May 2019 13:15:56 +0100
Subject: [PATCH] AC_AutoTune: add public reset method

---
 libraries/AC_AutoTune/AC_AutoTune.cpp | 4 +---
 libraries/AC_AutoTune/AC_AutoTune.h   | 6 ++++++
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/libraries/AC_AutoTune/AC_AutoTune.cpp b/libraries/AC_AutoTune/AC_AutoTune.cpp
index fa1deb12c1..fbfaad5632 100644
--- a/libraries/AC_AutoTune/AC_AutoTune.cpp
+++ b/libraries/AC_AutoTune/AC_AutoTune.cpp
@@ -1215,9 +1215,7 @@ void AC_AutoTune::save_tuning_gains()
     update_gcs(AUTOTUNE_MESSAGE_SAVED_GAINS);
     Log_Write_Event(EVENT_AUTOTUNE_SAVEDGAINS);
 
-    // reset Autotune so that gains are not saved again and autotune can be run again.
-    mode = UNINITIALISED;
-    axes_completed = 0;
+    reset();
 }
 
 // update_gcs - send message to ground station
diff --git a/libraries/AC_AutoTune/AC_AutoTune.h b/libraries/AC_AutoTune/AC_AutoTune.h
index 754b776579..87ad7322b0 100644
--- a/libraries/AC_AutoTune/AC_AutoTune.h
+++ b/libraries/AC_AutoTune/AC_AutoTune.h
@@ -37,6 +37,12 @@ public:
     // stop tune, reverting gains
     void stop();
 
+    // reset Autotune so that gains are not saved again and autotune can be run again.
+    void reset() {
+        mode = UNINITIALISED;
+        axes_completed = 0;
+    }
+
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];