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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Darrell Burkey,
Can you post a link or tell me what name you go by on that forum?
Has anyone tried this with the 3DR quads? I tried it on mine yesterday and the performance seems to be pretty good after auto tuning, but the values seem to be a fair way off compared to the already optimized versions on the APM?
Before: https://dl.dropboxusercontent.com/u/203420/Quadcopter/PIDs.png
After: https://dl.dropboxusercontent.com/u/203420/Quadcopter/ATPIDs.png
Seems that it also has different values for roll/pitch, even though they should be locked? The wind did pick up a little during the final pitch testing, whether that might have had an effect. It started raining as soon as the tuning had finished, so I had to bail, but bringing it back in to land it seemed pretty solid. Will go out and try it again soon.
Your tune looks good and reflects what we see from copters normally.
Hi Randy, Leonard and all the developers who made ac3.1 possible, it is solid, thank you!
However, It seems that I keep getting in and out of problems while attempting autotune, btw stock setting are fine, just wanted to see what can be improved by autotune. As you might recall from my posts here couple of weeks ago my previous problem was that autotune was going for far too long than what I read on this forum it is supposed to take 8min+.
Ok, after flying on stock PIDs for a while now after the last crush (2 weeks ago) I decided to give another shot at autotune.
I had good 3d GPS lock with 10+ satellites, almost 0 wind, checked baro vs gps alt looked almost the same, flew in stab a little and copter was rock stable, switched to alt hold, perfect, no ups/downs, tried loiter and the copter got "glued" to the spot where I left it (thank you developers for the awesome work!).
Switched back to alt hold and turned on autotune. 4min and it was done with rolls, perfect thought I, the last time tried autotune copter was rolling straight for 8min+, now came the pitches, after about 30 sec of pitching I was able to adjust the position of the copter just fine, however, it started to make them more aggressive and moving too much so I tried to adjust the position at this point I had 0 response on the sticks and copter moving towards a tree, so I dropped throttle and due to alt hold "dead zone" copter landed rather gracefully on the wet grass (dew). looking back at the log I see that after autotune was done with rolls apm got through all the modes I enabled before getting back to alt hold. I know that I did not move the mode switch is this an intended behavior? also, even though I said I had "dead sticks" it seemed that pitch and roll got mixed together, so when I was hard pushing back the copter was moving to the right and a bit forward (could be wind?) again it was a very "dampened" response this is why "dead sticks" I suspect it could be sudden wind though but I do not recall any.
p.s. this the first time I am using my x8r with s.bus to ppm converter? could this be an issue? if anyone knows on the frsky s.bus to cppm what is the correct jumper position for apm?
2014-02-11 09-06.log
Hi Leonard,
I tried AT on my new Pixhawk powered Tarot960 Hexa for the first time yesterday, before AT the Hexa was very jittery as standard settings too high,,,
after autotune, (very successful) Hexa flew great! so disarm with AT still on,, to save settings, refreshed MP to check new settings (surprised) but happy days, flies great, take off again, still good....
BBUUUUUUTTTTT on next boot up,, new battery,, Hexa flew all jittery like before AT??? refreshed parameters.. and the new autotuned settings are still there.. but flies like on default??
I repeated the process over and over,,, did 5 autotunes, tried refreshing full parameter list, saving it, and reloading it on new battery boot up... but everytime it seems the pixhawk boots into its default settings,,,,, even though it shows autotuned pids...
weird weird weird
any ideas??
Cheers
BOB
Hi Muhammad Abdul Hadi ,
This is what I would suggest the problem is too. If this doesn't work, post a data flash log here and we will have a look.
Insha Allah I will try that tomorrow, I think I ate too much MSG in some chips today, knocked me out for the whole day. Will update after trying it.
Thank you so much Juliett and thank you so much leonardthall :-)
Alhamdulillah it worked.......i removed all trims and put the TBS Disco up in the air. AltHold and clicked Autotune:-)
I danced for less than 5 mins and it was done. Put it into Stabilised and landed and disarmed. But in doing so I armed instead before disarming so i did the the auto tune again, it was much quicker this time round and after landing in Stabilised I disarmed.
Went up again and flew about until the alarm went off, switched to Land and after landing unplugged. Insha Allah i will download the logs tonight.
Thank you.
Dear Muhammad,
nice to hear that it worked out fine for you. Such a little flick with the switches can do so much ;-))
Wish you many happy landings.
John
Hi guys, Alhamdulillah I managed to complete auto tune about a month back but since then it has not "danced" like before. I tried setting up auto tune, due a change in props, again and again to no avail. I tried loading with plane firmware and then loading back with quad firmware following the wizard and still nothing. Although mission planner say "auto tune started" but no dancing.
What have I done wrong?
Thank you in advance for any help.
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