AC_AutoTune: load test gains for correct axis when testing yaw D

tridge · May 16, 2023 · 38adb30 · 38adb30
1 parent 30d71e4
commit 38adb30
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
@@ -346,7 +346,7 @@ void AC_AutoTune_Multi::load_test_gains()
         attitude_control->get_rate_yaw_pid().kI(tune_yaw_rp*0.01f);
         attitude_control->get_rate_yaw_pid().ff(0.0f);
         if (axis == YAW_D) {
-            attitude_control->get_rate_pitch_pid().kD(tune_yaw_rd);
+            attitude_control->get_rate_yaw_pid().kD(tune_yaw_rd);
         } else {
             attitude_control->get_rate_yaw_pid().filt_E_hz(tune_yaw_rLPF);
         }