AC_AutoTune_Heli: fix

bnsgeyer · Dec 1, 2024 · bc4ea6c · bc4ea6c
1 parent 97673b0
commit bc4ea6c
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp b/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
@@ -816,7 +816,7 @@ void AC_AutoTune_Heli::dwell_test_run(sweep_info &test_data)
             float ang_limit_rate = radians(rate_max) / dwell_freq;
             float ang_limit_accel = radians(accel_max) / sq(dwell_freq);
             float tgt_att_temp = MIN(ang_limit_rate, tgt_attitude);
-            tgt_att_limited = MIN(ang_limit_rate, tgt_att_trmp);
+            tgt_att_limited = MIN(ang_limit_rate, tgt_att_temp);
         }
         target_angle_cd = -chirp_input.update((now - dwell_start_time_ms) * 0.001, degrees(tgt_att_limited) * 100.0f);
         dwell_freq = chirp_input.get_frequency_rads();