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.
You need to be a member of diydrones to add comments!
This reply was deleted.
Replies
Why would you want to reduce the accuracy of the auto-tune?? You don't want to wait 7 minutes for something that you spent this much time and money on?
Hi Facundo, that is correct.
That should speed up your tune by a factor of 2. Let us know how you go.
Hi Egert,
Sorry but I can't download your logs for some reason.
What I suspect is happening is your default tune is too high and the copter is not recovering well from the autotune test.
I would suggest you drop your roll and pitch rate P I terms by 50% and try again.
Let us know how you go.
Also, make sure you are using the latest release as it has an important bug fix.
So I can't seem to get autotune to actually work. I have CH 7 setup to intiate and mission planner says its in autotune when I hit the switch but does not actually do any of the autotune sequence. I did another radio cal, did an save trim, cal'd the accelerometers, cal'd the mag, and made sure many times I was centered on my trims. At this point I am out of ideas of what it could be. I do use a minimosd and teensy to Frsky module both connected to the telemetry 2 port but I can't see those as doing this. Anybody have any ideas. I'll post the logs
I am doing this all on my 3dr iris
Autotune logs.7z
You should be good with this setup to do the auto tune. Just make sure that you take off the gimble before you do it, otherwise it could spell bad things to come.
Good Luck!
Henri,
yes, any free moving mass will have great impact on how AT will work. It's a good idea to lock down those legs as much as you can, and remove the gimble all together.
After reviewing your video, I really don't think that you are going to gain much from AT. To me it looks like it's flying really well! Please keep in mind that ANY wind is going to have an effect on our birds... this is just part of the game, however if it becomes unstable in a gust or moderate winds the AT may be able to help you out.
If you do go through with the AT please make sure that you turn down the pitch and roll gains a bit until you get a feel for it. Right now the process has been reported to make them a little high.
Good luck! report back with your findings!
Hi there,
I'm not sure if anybody has the time to help - I have unexplained crashes lately after apparently tuning the drone right - when I fly it in manual mode (stabilize) there are no problems. However, in loiter or auto or RTL it seems to crash randomly. I'm using firmware 3.1 - I thought it's supposed to be stable. The error seems to be from the navigation module - for some reason at some point it reduces the servo throttle by a lot - not sure why. By following the mavlink messages to the ground station it looks like servo output from 1600-1700 to 1200 and crashes the drone in whatever position - once it fell exactly vertically, today it flipped. It's a hex drone - not sure if the error is frame dependent.
What I noticed weird is that there is a parameter called ThrOut in CTUN which maxes out at 1000 (as well DCRate goes way down) right before the crash. Does anybody have any idea what is ThrOut and DCRate in CTUN log messages?
If you have any ideas or have the time to look through the logs (both dataflash and tlog attached), thank you. If you do look the datalog crash is around 2190 and for the tlog is exactly at 94% of the tlog play.
Mihai
loiterCrash.log
loiterCrash.tlog
Hi Mihai,
This is strange. Your copter is going to full throttle but still descending.
Could you turn on motor logging and repeat the problem.
The only thing I can think of that fits the symptoms is strong oscillations in your control loops. I can't see any logging that can discount this without motor logging or IMU logging.
Thanks for checking Leonard, I will turn them on and repeat. The drone seems super-stable, despite some wind. I got the motor information (they went down from 1600 to 1200) from the mavlink log from Mission Planner.
What seems to have caused the saturation in Throttle Out is a feeling of falling (CRate) which goes as low as -100cm/s around that time (could be z gyro noise?), but why was that large throttle out translated to reduce motors is beyond me. One thing that crossed my mind is that perhaps there is a bug in the hex X code? Most people run with quads, and I didn't see yet somebody with a Hex X frame.
Either way, I"ll enable IMU and Motors and try again.
Thanks for looking at the logs,
Mihai
Hi Leonard,
It took two more crashes, but now I know what happened - it's a firmware bug. It's repeatable. I crashed five drones (really 2 drones five times): three times from loiter and twice from RTL. The crash from RTL is immediate and deterministic as long as the return altitude is different from the current altitude, the crash from Loiter takes some time and is not deterministic. In both cases the symptoms are similar: at some point the output to one or two motors goes to 12xy and 100-200ms later all six motors get exactly the same low value 12xy and the drone falls from the sky (as normal hover is 1600+). Since one or two of the motors shuts down slightly earlier, the drone also flips while falling down.
I have full datalogs (with IMU and RCOU) as well as telemetry logs and videos documenting both bugs (probably one single root cause triggered both by LOITER and RTL), but I assume that here is not the right place to detail the bugs.
BTW, the bugs are at least in APM 3.1 rc8 through the current one (3.2.1 I believe), but not in 3.0.1 which works well (RTL glitches slightly, but does not fail - the bug may be in the fix for this slight glitch). It may also only affect X Hex frames (didn't check it on any other frame).
Thanks again for looking in the logs and suggesting to enable IMU and MOTORS (RCOU) - this confirmed that indeed was a software problem, not parameters, not hardware, not ESC, no connections, etc.
I'm not sure where is the best place to post a detailed description of the bug - I'll look around.
Best,
Mihai
rtlFromAutoCrash.log
loiterCrash2.log
-
28
-
29
-
30
-
31
-
32
of 39 Next