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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Nice autotune on a HK Hal quad 2830 on 10x5 pprops.
keep up the good work
Ok, I used auto tune today for a "normal" quad and it worked great! I have awesome position hold now. But, I then tried it on my X8 and it didn't work. I got a couple twitches but then it refused to do anymore. I think the problem is that I am flying with some added trim and it sees the trim as stick input, which disengages the routine. So I am thinking I need to save trim and try it again.
Does this make sense?
Hi Leonard,
Thank you for the clarification! Here are pictures of the rig including CG & distance. CG seems to off by .5-1mm.
I put a tiny (awful quality) stationary camera on the frame so we can get a look at the wobble. After watching the video, it looks like even when the copter is hovering there is a slight wobble (oscilation?). In the video, I hover at low alt in stab for a few seconds, then shoot up & down a couple times. Towards the end I have it Loiter. In all the aforementioned scenarios, you'll see just about the entire time it looks like the APM is trying to correct roll/pitch, especially when losing alt, but surprisingly also when gaining alt straight up.
Thanks again for taking the time to look at this. I've spent probably the last 4 weeks trying to properly tune my Y6. Any help is greatly appreciated. It's not easy (or I am terrible at it). Log of the above flight is attached as well with motors logging enabled.
2013-11-25 17-47 107.log
What are the required conditions for Autotune. I've been trying to find a day with little wind over the last 2 or 3 weeks, but can't seem to get anything good when I can get out and tune.
This link shows the wind conditions in my area. Average is around 16km/h, but goes as low as 3 or 4, but as high as about 30km/h http://wind.willyweather.com.au/wa/peel/westfield.html
Obviously I need it to be as calm as possible, but I can't go and tune at 11pm or 2 in the morning, or even 11am cos im at work.
Damn work, always interrupting my hobby time.
Well, I'm not sure if it's 100% relevant to this, but I tried to auto-tune my hexcopter today and it crashed miserably before I even started: I took off in stabilize, but a few seconds later one of the motors went full throttle and the hexcopter just flipped and went down. No major harm done. The main problem is I don't know what happened. The only thing wrong in the log is apparently a software crash judging by the nonsense in the last log message. The log doesn't show a high motor toward the end, so it was probably not instability - just a crash. Is the latest version (3.1 rc7) known to have bugs? If anyone is inclined to look through the log, please let me known if anything looks amiss.
2013-11-25 15-40 1.log
I just completed my AutoTune on my Y6 and the tail motors pulse a bit and the roll is very sensitive. I have attached the logs and here is the details.
3dr Y6
APM 2.6 with ext Mag and GPS
4s 5000Mah
rctimer 2830/750kv
Top CF 10x4.5
Bottom CF 11x4.7
Any guidance on removing the pulsing and lowering the sensitivity on roll would be appreciated.
2013-11-25 12-01-18.rlog
2013-11-25 12-01-18.tlog
2013-11-25 12-27 2.log
Hello Leonardthall,
I installed 3.1.RC7, I resetting the EEPROM and with the default values I run Autotune, everything ok about 4 minutes with no wind, but with the parameters of autotune I like oscillations in the post, I declined STAB P 5.25 autotune value STAB P 4, but the fluctuations are the same lower intensity, I wanted to change the code as I had advised you:
"go to config.h on line 786 You Should see this:
# define STABILIZE_RATE_LIMIT 18000
Change it to this:
# Define STABILIZE_RATE_LIMIT 9000"
but I have not found the line to be replaced, I was obliged what should I change?
thanks Fabio
I've autotuned my 3.4kg quad a couple of times now, and for general flight the autotuned PIDs make it handle well (after reducing stab p from 8 to 3.2), but I find descending at max rate (1.5m/s) while stationary in alt-hold/loiter is still terrible. It's very bumpy and pretty much ruins any video I'm shooting.
Specs are 2814-11 motors w APC 12x4.5MR props on 4s, on a UAP2 frame.
I've been running autotune without the gimbal (1kg less), and then putting the gimbal back on. I ended up with the following values:
RATE_PIT_P,0.175
RATE_PIT_D,0.015
Where should I start to try and improve the performance during descent?
I gave in and tried Autotune today with rc7, I had spent a lot of time tuning my quad to fly how I personally like it and it was flying as well as I felt I could expect but I was interested to see what values AT came up with.
Autotune completed in about 4 minutes.
My 2c's:
- I prefer a high I values as to me it feels more locked-in and a little more resistant to disturbance, a personal preference.
- My folding I-quad is a little longer in the fore/aft plane than the left/right plane, accounting for I presume, the variance between the autotuned Roll and Pitch RATE_P values.
- I had tried a higher D value but got some small high frequency oscillations so had settled on 0.011, quad seemed fine with the new values.
- I had chose a much lower STB_x_P value as it makes the quad a lot less nervous to my inputs and much better for any kind of video'ing or FPV, again a personal choice. I have gone back to my values. (A much better choice for beginners too!)
Did an Auto Tune yesterday in 12-15 mph winds with Rc7 and all went well but had to make a lot of flight corrections to keep machine nearby. Redid today in calmer conditions and was surprised when I had a RTL near the end of the roll phase. Switched to Stab, then Althold, and resumed auto tune to completion. After landing I discovered my Fence Radius was set to 100 feet and that is what caused the RTL. Just wanted to say I was surprised that everything worked with this kind of interruption in the Auto Tune. Great job.
All works great, and my quad flies like it is on wires. Very responsive and snappy on controls. Just wanted to let you know.
If weather holds I will do missions and test out the Toy mode tomorrow.
Thanks for all the great work.
Joe
x525 frame, 3DR APM2.5, blue motors, and non-SimonK ESC. RCDome used for mounting gear.
2013-11-23 22-21 1.log
2013-11-23 16-12-08.tlog
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