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arduplane 3.0.3 autotune: doesn't allow pilot input

Posted by Will on June 12, 2014 at 7:42am

Hi,

I am finding that in firmware, arduplane 3.0.3 (I couldnt find a 3 forum), autotune: doesn't allow pilot input.  It does seem to oscillate at first, then get super smooth, but never allows pilot input.  It seemed to allow it on ground, but perhaps tuning dulls it down too much based on calibrating before takeoff?

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Replies

  • Mike Mac June 21, 2014 at 6:23am

    I just tried it and it works great.

    Maybe your radio calibration is off or you have low rates. You must get to 100% roll and pitch input for it to tune. I did it for one flight and recorded the value. I decided to do more tuning cycles and the PID values did increase. Don't give up too soon as it takes lots of cycles to get to the final PID values.

    　

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  • Will June 14, 2014 at 10:02am

    3701758134?profile=original

    Here are the PID settings after autotune.  looks like the roll never changed from default.  The pitch does look different.  I've also attached logs.

    long flight several loiters peace drone 2014-06-12 20-32-12.log

    • iskess > Will June 14, 2014 at 10:49am
      I'm not sure why your roll didn't tune. Increase your roll P a bit manually and try autotune again. If you have an airspeed sensor don't forget to calibrate it.
  • iskess June 12, 2014 at 12:38pm
    I would say that your initial P values are too low, but the oscillations are confusing me. What are your PIDs. What kind of plane? Has it ever been manually tuned before? What is your APM experience level?
    • Will > iskess June 12, 2014 at 8:11pm
      It is a elevon wing with canard. I am novice at apm. I will post pids later.

      Here is video of it flying in loiter. There is some oscillation that makes me think P is too high.

      Peace drone: http://youtu.be/bxWtf24hlVs
      • iskess > Will June 13, 2014 at 1:17am
        I'm sorry but I couldn't see anything in that video but a speck.
        I would try some basic manual tuning using the tuning guide in the wiki. Just leave the I and D values at zero to start. fly around in FBWA and keep turning up the P values until the plane responded reasonably well. Then try autotune and see what changes it does to your I and D values. You might find Autotune Level 5 to be not enough. I find 7 works best for me.
  • Will June 12, 2014 at 11:30am

    reserved

  • iskess June 12, 2014 at 11:01am
    Autotune requires full stick deflection while tuning. You should either be using 100% or 0% deflection. Please describe the autotune procedure you are using.
    • Will > iskess June 12, 2014 at 11:30am

      The following are the steps that I took

      1. mission planner
        1. set autotune as a flight mode
      2. preflight
        1. power on TX
        2. power on plane
        3. check flight surfaces
        4. put in autotune mode, check flight surfaces
        5. put in manual mode
      3. flight
        1. takeoff
        2. fly in manual
        3. put in autotune

      Description of behavior in autotune:

      1. initially, flight is very stable, plane gets level, and travels straight
      2. initial direction adjustments are met with oscillations in roll, the inability to make even minor flight path adjustments.
      3. RC inputs are sent for full roll in each direction
        1. plane shows small roll movement
      4. RC inputs are sent for full pitch
        1. plane shows small pitch movement

      Could I be causing the problem by checking surfaces in autotune mode while plane is parked?

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