Copter: Autotune: Squash with Fails

lthall · Feb 20, 2024 · c9bbd67 · c9bbd67
1 parent ac0f08e
commit c9bbd67
Showing 1 changed file with 5 additions and 2 deletions.
diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
@@ -929,13 +929,16 @@ void AC_AutoTune_Multi::updating_rate_p_up_d_down(float &tune_d, float tune_d_mi
         if (tune_d <= tune_d_min) {
             tune_d = tune_d_min;
             LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);
+            gcs().send_text(MAV_SEVERITY_CRITICAL, "AutoTune: Rate D Gain Determination Failed");
+            mode = FAILED;
+            LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_FAILED);
         }
         // decrease P gain to match D gain reduction
         tune_p -= tune_p*tune_p_step_ratio;
         // do not decrease the P term past the minimum
         if (tune_p <= tune_p_min) {
             tune_p = tune_p_min;
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "AutoTune: Max Rate P Gain Determination Failed");
+            gcs().send_text(MAV_SEVERITY_CRITICAL, "AutoTune: Rate P Gain Determination Failed");
             mode = FAILED;
             LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_FAILED);
         }
@@ -984,7 +987,7 @@ void AC_AutoTune_Multi::updating_angle_p_down(float &tune_p, float tune_p_min, f
             tune_p = tune_p_min;
             counter = AUTOTUNE_SUCCESS_COUNT;
             LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "AutoTune: Max Angle P Gain Determination Failed");
+            gcs().send_text(MAV_SEVERITY_CRITICAL, "AutoTune: Angle P Gain Determination Failed");
             mode = FAILED;
             LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_FAILED);
        }