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 upgraded my 3DR Y6 to 3.1, did an autotune. All went well. Decided to implement the new Frame 10 conversion, and after completing that, gave it a short test flight. It responded appropriately to stick input, however, although a calm day, in Stabilize, it would tend to fly backwards towards the black arm, which of course has different props now. I physically checked CG before the flight, and it was centered.
Should I redo the autotune now that I am using Frame 10?
Thanks!
Nelson
I had a successful autotune,however it seamed to fly the same to me, and I forgot to do the print screen before and after. I downloaded the logs to see if I could see any changes, but saw none, so I decided to redo it. I had a crash, twice actually. It over rotated on the second or third roll input The first time no major damage, so I lifted off to try again. Did the same thing but this time broke a few props. Do I have the symptom of the ESC not keeping up? Should I be worried, as long as I don't try autotune again?
Large Octocopter, running2 parallel 6S 8000 MAH packs. Gimbal removed.
Log attached
Thank You for the help
2014-01-06 18-48 97.log
Auto-tuned my 3DR X8 this morning. There was a light but steady wind (maybe 2 mph), so I needed to keep bringing it back to center, but it worked exactly as advertised.
I landed, disarmed and flipped back to normal mode, then took off again.
If my finger twitches, the X8 twitches. Very responsive. Didn't have a lot of battery left, did a quick loiter, and held solid as usual.
I was just testing the auto-tune feature....
Right after I brought her in I swapped out the APM2.6 for a Pixhawk, only took about 3 hrs.
Now I'll have to do the autotune all over!! Oh well, it was fun. I guess I could copy the PID params, but I hadn't saved the params to a file... so later I connected to the APM2.6 and did a screen shot. It's funny though, the P and I terms are identical for each of the roll pitch and yaw PIDs, Image included. So don't know what's going on there. It flew well. I don't know if these represent what flew since I read them from the APM2.6 once it was removed... but that shouldn't have effected anything.
I tried Autotune a few weeks ago, but I went back to my own preferred settings (no reflection on a great feature!).
A few days ago I flew and noticed a change in behavior, so I checked my PID's and noticed Roll/Pitch had reverted to the Autotune values by itself, very strange!
Is there anyway that this could have happened or to prevent it in the future?
AUTOTUNE INTERRUPT ??
Dear all,
I'm flying a tricopter with APM 2.5, external magnetometer, Software 3.1 stable (which I loaded up two days ago).
https://plus.google.com/u/0/photos/114934137844683128889/albums/593...
After the update I did an erase and a reset, so I had to dial in a few values again. (Reverse the tail servo f.e., which I had forgotten of course ;-))
The copter flies fine with the standard settings, with only slow oscillations in loiter mode, no TBE.
https://vimeo.com/83187694
I then tried the autotune procedure.
Is there an issue that could interrupt the Auto Tune procedure?
It started up fine but somehow stopped after approx. 4 mins.
I could never invoke the autotune again. My Channel 7 switch goes clearly up to PWM 1903.
I have no idea how to proceed.
What could I possibly have done wrong?
Would my attached log file help? BTW: Which logs have to be enabled for it?
THNX in advande for your support.
John
Alle_logs_2014.txt
Does Auto Tune adjust the trims?
Question, are the autotune results repeatable? also am I best to attach my gimbal etc ie have it fully loaded when preforming the test?
Randy, what did you guys do, I ran the autotune and my TBS Disco Pro flies like a dream. Dare I say better than any multicopter I have ever owned and that includes my 2 NAZA-Ms and my APM 2.5
Thanks man, you guys are the best!!!
Below are my PIDS (Flown on a TBS Disco Pro, 4200 mAh 4S)
Below are the results from the Autotune that I did on my TBS Style Discovery Frame.
Before Autotune
After Autotune
The original setting did need some work but the quad was flying very well. The PID values after Autotune appear to be about half what I would have expected.
David Ardis
I did an AutoTune a few days back and posted the old and new numbers a few pages back. It flys very good when I fly visual but yesterday I did an FPV flight which I haven't done since AutoTune. It has this weird little oscillation in the roll axis when flying fast forward. You don't notice it unless flying FPV and it isn't much of an oscillation but it is annoying looking through the goggles while flying. Here are my before and after numbers again and if any of the guru's can tell which to change without having to go all the way back to my original settings (It does fly better after AutoTune in most respects save the little oscillation in forward flight) I would be most appreciative. It's not that it flew bad with the original numbers it just looks smoother in slow manual flight with the new ones.
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
Thanks for any help you guys can offer.
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