From d6a23fd22ab5102712832be2707bbb37fe204e85 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 22 Dec 2018 10:40:31 +1100
Subject: [PATCH] AC_AutoTune: fixed missing else statement

---
 libraries/AC_AutoTune/AC_AutoTune.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AC_AutoTune/AC_AutoTune.cpp b/libraries/AC_AutoTune/AC_AutoTune.cpp
index 7326ef2bee..16b4dcdd69 100644
--- a/libraries/AC_AutoTune/AC_AutoTune.cpp
+++ b/libraries/AC_AutoTune/AC_AutoTune.cpp
@@ -1276,8 +1276,9 @@ void AC_AutoTune::twitching_abort_rate(float angle, float rate, float angle_max,
             step_scaler *= 0.9f;
             // ignore result and start test again
             step = WAITING_FOR_LEVEL;
+        } else {
+            step = UPDATE_GAINS;
         }
-        step = UPDATE_GAINS;
     }
 }