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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Just finished a perfect autotune and my copter is flying on wires! I would like to say a major thanks to the Arducopter Devs!
Hi Dieter,
I think you have vibration issues with Alt-Hold that are excited by Auto-tune. If you post a log with IMU tuned on I can confirm.
Good evening to all autotuners,
trying to tune mini spider hex from Blackout. Flies OK just as it is but when I invoke autotune it finishes itself too early. It just never starts fliping from front to back. I have done many attempts also with different starting PID values but so far no luck. Log file from the last flight is attached (five autotune attempts with landing and disarming/arming in between of the attempts).
Copter configuration:
Blackout Mini Spider
6x Cobra 2204/28 2300Kv
6x Afro Ligh 12A ESC w/BLHeli 11.2 (Demag compensation OFF, PWM Frequency HIGH, Motor Timing MEDIUM HIGH)
3S 2200mAh nanoTech 25-50C
OpenPilot REVO ArduRevo (latest code compiled by stefan, in terminal it says V3.2-05)
Props: GF 5030
Any ideas what should I try to get autotune to finish? It worked very well for me on two previous builds (TBS Discovery and mini quad 250).
2014-06-17 21-54-33 1 mini hex autotune stops five times.log
014062f5e297a601ab638e2d0a9db0b9fb2091d818.jpg
After few more attempts I had finally somewhat succeeded. I did two changes at once, so not really sure which one helped more. At first switched from 'X' frame configuration to 'V'. And then also put more weight on the copter - 3300mAh 3S battery together with the Mobius cam. Total weight went up by ~180g, all quite evenly distributed under the copter.
Autotune was then quite straightforward in this configuration. Finished with these values, perhaps a bit too low in my eyes. However the result seems to be pretty stable. The copter is quite sensitive to the proper balancing. To attach the battery to it so that the COG is where it should be is important. If it is not placed where it should be, copter just keeps flying forwards or backwards by itself.
Stabilize R & P: 6.000
Rate Roll P: 0,0550
Rate Roll I: 0,0550
Rate Roll D: 0,0050
Rate Pitch P: 0,0350
Rate Pitch I: 0,0350
Rate Pitch D: 0,0095
Anyway, I'm still very interested in some hints how to make the autotune to finish with lightweight configuration (2200mAh 3S battery, no Mobius cam attached).
mini.hex.autotune.3300.3S.png
Papayou,
I think this likely means that the autotune has failed to find good PIDs during the roll tuning and has given up.
Hi Barrett,
Roll Rate D = 0.0145
Roll Rate P = 0.25
Roll Rate I = 0.25
Roll Stab P = 6.75
Pitch Rate D = 0.015
Pitch Rate P = 0.25
Pitch Rate I = 0.25
Pitch Stab P = 6.75
Those are what Autotune was looking like it was going to give you.
Could you tell me a bit more about your copter. Weight, Size, Motor kv and power, cell count, props and a couple of photoes if you have them.
The reason I ask is you have pretty much maxed out autotune. We may need to give more headroom for copters like yours and I would like to know what that is.
Thanks.
Hi Barrett,
Yeh, this is strange. Maybe it was the wind. Looking closely at your Autotune measurements they are strange in their shape. Sorry, all I can suggest is that you try again in calm conditions. I tend to find first thing in the morning the best time for calm conditions.
D should be 0.004 (but I would start with 0.006)
Can't figure out why autotune won't start. I've tried both CH7 method, and setting it as a normal flight mode. I'm using APM 2.5 with APM 3.1.5 . Any ideas?
Nevermind. Was using the wrong switch set up for ch7 on my new TX :-p . Realized when I actually looked down at my transmitter. However, I didn't get autotune to work as a "normal" mode.
Hi Aaron,
How is you autotune going?
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