Just notes and stuff

ArduCopter/AP_Arming.cpp

@@ -807,6 +807,7 @@ bool AP_Arming_Copter::disarm(const AP_Arming::Method method, bool do_disarm_che
 #if AUTOTUNE_ENABLED == ENABLED
     // save auto tuned parameters
     if (copter.flightmode == &copter.mode_autotune) {
+        // it may be difficult to remove this without loosing the current capability
         copter.mode_autotune.save_tuning_gains();
     } else {
         copter.mode_autotune.reset();

ArduCopter/RC_Channel.cpp

@@ -76,7 +76,8 @@ void RC_Channel_Copter::init_aux_function(const AUX_FUNC ch_option, const AuxSwi
     // the following functions do not need to be initialised:
     case AUX_FUNC::ALTHOLD:
     case AUX_FUNC::AUTO:
-    case AUX_FUNC::AUTOTUNE:
+    case AUX_FUNC::AUTOTUNE_MODE:
+    case AUX_FUNC::AUTOTUNE_SWITCH:
     case AUX_FUNC::BRAKE:
     case AUX_FUNC::CIRCLE:
     case AUX_FUNC::DRIFT:
@@ -290,9 +291,37 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
 #endif
 
 #if AUTOTUNE_ENABLED == ENABLED
-        case AUX_FUNC::AUTOTUNE:
+        case AUX_FUNC::AUTOTUNE_MODE:
             do_aux_function_change_mode(Mode::Number::AUTOTUNE, ch_flag);
             break;
+        case AUX_FUNC::AUTOTUNE_SWITCH:
+            switch(ch_flag) {
+                // this could also work as a two position switch by switching into Autotune using the mode switch.
+                // The switch wouldn't do anything if autotune had not completed.
+                // some challenges there to get that stretch goal
+                case AuxSwitchPos::LOW:
+                    // load and save if required original gains
+                    // we could leave the current save on disarm and only switch
+                    copter.mode_autotune.autotune.load_orig_gains(); // this currently doesn't save the gains
+                    // what we do with the mode is an open question
+                    // can we switch back to the previous mode
+                    break;
+                case AuxSwitchPos::MIDDLE:
+                    // change to mode autotune or do nothing if tune is complete
+                    if (copter.mode_autotune.autotune.) {
+                        do_aux_function_change_mode(Mode::Number::AUTOTUNE, ch_flag);
+                    }
+                    break;
+                case AuxSwitchPos::HIGH:
+                    // load and save if required tuned gains if tuning is complete
+                    // we could leave the current save on disarm and only switch
+                    // we would need to change the save on disarm anyway to save the current settings not the tuned settings, but we need to maintain the ability to run autotune without the switch.
+                    copter.mode_autotune.autotune.load_tuned_gains(); // this currently doesn't save the gains
+                    // what we do with the mode is an open question
+                    // can we switch back to the previous mode
+                    break;
+            }
+            break;
 #endif
 
         case AUX_FUNC::LAND:

ArduCopter/mode_autotune.cpp

@@ -120,6 +120,8 @@ void ModeAutoTune::run()
 
 void ModeAutoTune::save_tuning_gains()
 {
+    // is this too many parameters to save all at once.
+    // There could be 30 parameters right now. Maybe more in the future if we add tuning for other controllers.
     autotune.save_tuning_gains();
 }