This is a discussion re the ArduCopter-3.1 AutoTune feature.  A place for people to report successes and failures, ask questions and get answers.

The AutoTune wiki page is here.

 

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Am i correct in saying, Autotune is only available in RC5 & RC6? thanks in advance

Yes, that's right.  It's not available in AC3.0.1 but it is available in AC3.1-rc5 which can be downloaded from the MissionPlanner's BetaFirmwares link.  Of course because it's Beta people should know that it's still in testing and is likely not as stable as the official release.

thank you sir

1) Is it autotune using gps for "geofence" purposed.

2) During autotune process, if i touch any tx stick to prevent copter drift too far, is it autotune re-start the process?

thanks sir.

2) no it just pause and continue where it was when u touch stick...

Hi,

After using autone my P-stab roll and pitch  doubled.

Due to this the copter starts yawing to the left if you pitch or roll.

The rate values look quit good and are a bit lower than the default ones.

The other strange thing was the I-max it went from 5 to 500 on for both pitch and roll

 

I have a apm 2.5 with external compass/GPS mounted on a 3dr hexa with 750 kv motors using 4s 4000 mah battery.

Sadly i have no logs as i turned these off to save cpu power.

 

cheers erik

has anyone tried autotune on a 3DR Y6? I'm very curious to compare PID's.

I tried auto-tune on my Y6, here is what changed: 

ORIG.    

TUNED

RATE_PIT_D             

0.004

0.015

RATE_PIT_I

0.01

0.198

RATE_PIT_P

0.133

0.198

RATE_RLL_D

0.004

0.015

RATE_RLL_I

0.01

0.153

RATE_RLL_P

0.133

0.153

STB_PIT_P

4.5

8.625

STB_RLL_P

4.5

8.625

TRIM_THROTTLE

479

324

I ended up with high frequency oscillations so I reverted back to original values.  Have not spent much time after my initial trial.

Karl

Hi ultrojo,

1. No, autotune doesn't use gps in any way.

2. Thanks for this question. Because of it we added this to the wiki:

  • use the roll and pitch stick at any time to reposition the copter if it drifts away (it will use the original PID gains during repositioning and between tests).  When you release the sticks it will continue auto tuning where it left off.

Hi Karl Hanafin,

If you do your auto tune again, could you please post a log.

Things that can make autotune fail include, overly flexible motor arms, overly soft apm vibration mounts, soft mounted camera gimbal, incorrect CG.

Oh dear.

Are you saying that with the release of 3.1, all of these will need to be considered by the user before using this feature?

We've only just asked them to get used to compassmot and reducing RF (3.0.1); before that it was vibes (2.9.1). And now all these???

I understand APM is "DIY", but the length of parameters you need to know and design for appears to be growing, to the point we are in danger of alienating the very users we hope to attract. Lets hope Pixhawk does not have these requirements as well...

Karl

can you post your y6 specifications pls.

 

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