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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I finally did an AutoTune last week. It's taken me a while to get the numbers posted but AutoTune did a great job on my quad. I had to lower the Stab P numbers back down some as I like it a bit more tame in stabilize but here are the numbers before and after. The Stab P numbers have been lowered from 11.5 to 6.5 for the time being.
Param Before After
Stab P 4.5 11.5
Rate Roll
P .0850 .0450
I .0850 .0450
D .0025 .0040
Rate Pitch
P .0850 .0400
I .0850 .0400
D .0025 .0040
My throttle mid value is 390. This thing, even being just a quick throw down experiment, flies as good or better than the higher dollar NAZA stuff at my field. It will hold a Loiter rock solid within a foot or two radius on a windy day, hold altitude within a couple of feet in alt hold and auto lands so soft the plank guys would call it a "greaser" landing. None of the NAZA powered ships auto land anywhere near as good as they all tend to bounce a little. Everyone at our field is really impressed with this little experiment.
I have no idea what the motors are other than they are 1000kV, the speed controllers are RCTimer 20A SimonK and the frame is now a Turnigy HAL. The original frame needed better motor mounts and longer landing gear so I just switched everything to the HAL which was cheap courtesy of a friend. The Controller is a APM 2.5 with the external uBlox GPS and Compass combo mounted 14 cm up from the frame centerline. I've never had problems with toilet boiling so I guess I've been lucky and missed out on that excitement.
Thanks to all of the Developers for the hard work that makes my weekends fun.
If I use autotune can I then save the pids, download to stable release and re-enter the new pids?
I just had a crash in auto-tune. It seems that it was ready auto-tuning the roll axis and was going for pitch axis. It looks like a motor failure but not sure because it just started to tune the pitch axis so it could be a software problem also. If some can take a look to the logs it would be great.
2013-12-15 10-52-14.tlog
2013-12-15 11-46 2.log
I see the latest mission planner 1.2.89. the FW is 3.1. is the 3.1 now official? with autotune and no more beta?
I loaded the 3.1rc8 to my apm2.5 (no external mag) to try out the autotune function.
My test setup is a F450 frame with 900KV motors, gemfan e-props 10x5, 20A esc SimonK flashed running on a 3S battery.
After running through the necessary checks and calibration processes I put it in alt hold and let its do his autotune stuff.
Afters a few minutes autotune function was completed and the quad flies flawless.
I saw that there will be some more wind tomorrow so I'll try out the loiter and RTL as well.
Nice job to the developers!
Cheers
I'm managing to complete my autotune successfully (without gimbal, battery mounted centrally), and the copter looks to fly well with the new PIDs however as soon as I bolt the gimbal back on (1kg of gimbal + camera) I get a reasonably violent high frequency oscillation which I can't get rid of until I drop the rate D from 0.015 to around 0.010. Even after that, it looks like the whole copter still isn't flying completely smoothly, as my gimbal is still shaking around a lot on it's dampers, which I think is because the copter is shaking rather than the gimbal PIDs being bad.
I just rebuilt it today to have the battery on top of the centre of the main frame plate, as previously the battery was mounted a reasonable way rear of the CG and I thought this was this cause of my bad performance, but turns out it's not.
It's a UAP2 quad, and I have the motors on the vibration isolation mounts (http://www.shop.aglhobbiesllc.com/Motor-Mounts/Anti-Vibration-Mount...). Not sure if this is the cause. Might have to try swapping the mounts and see if I can get improved performance.
Autotune log is here:
How do you tell from the logs whether or not autotune has been envoked and if its actually working?
By the way, in case people didn't see it I've added a demo video to the autotune wiki page.
Hello everyone,
I wanted to submit my log after a crash, I have successfully carried out the autotune, then I tried to fly with the new parameters apparently everything is ok, then I tried a quick turn right then left and went into the quad fast swing that does not I was able to check and did a flip, fortunately without damage.
tomorrow I'll try 3.1.RC8.
Crash Check it worked great the engines stopped immediately.
Great job guys, great team.
Greetings to all
2013-12-07 13-02 1.log
I loose height in stabilize so I can't autotunne.. any clue? log files are here: http://diydrones.com/forum/topics/tunning-a-new-frame
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