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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Here's the two autotune attempts. The first one seems to go ok, but with these pid's it still flies like a dog lol. The second attempt simply wouldn't start. Never had that happen before.
https://www.dropbox.com/s/vh3gxbbupd3xi4x/2016-09-22%2018-14-27.bin...
Note this autotune never announced it was done, just stopped.
And this one wouldn't even start:
https://www.dropbox.com/s/uqcasyd8irsl38y/2016-09-22%2018-36-43.bin...
As you can see channel 7 goes high for AT, then goes low and back to high and finally stays low so not AT. Maybe a radio glitch.
Hi Leonard,
Here's the link:
https://www.dropbox.com/s/tnluc96109zprzy/2016-09-22%2017-52-09.bin...
Tuning is pretty crazy. A lot of pitching in forward flight. Enough to almost send it to the ground but it recovered later in the loiter part of the flight. Maybe I'll bring the I up before I do any more AT's. When I get back I'll post the two Autotunes after this flight.
Thanks!
Hi Shaun,
Could you do a 4 minute flight with the Log Bit Mask of : 786429
Could you make sure you have a fast SD card in the pixhawk. (like as fast as you can get)
Just a Stabilize for the first minute
Alt Hold for the second minute
Loiter for the third minute
and a minute of flying around.
I am seeing some things that look like noise and I am trying to track it down.
Thanks,
Leonard
Thanks Leonard! I'm your guy for testing big copters and AT lol!
Hi Shaun,
I will take a look tonight.
Shaun Bell
Bigger the rig, the crazier to autotune? Well, setting the filter to 10hz and aggr to .1 worked really well on the 960mm X8 and the 960mm HEX. Not so good with my 1300mm X8. Started out fine, but after about 6min the roll inputs started getting really excessive. Instead of rolling one way and stopping it would roll extreme right and then roll extreme left in one motion. After a minute or two of that I realized it was probably going to roll right over lol! I've never seen this before. Think I've set the aggr too high at .1. I'll go back out tomorrow and try again. Specs:
-firmware 3.4rc5
-1300mm X8
-Tmotor U8 170kv motors
-Foxtech 2880 supreme props
-8s44ah
-AUW 16kg
Dataflash log:
https://www.dropbox.com/s/emer3e1hsamix6w/2016-09-20%2018-37-27.bin...
No esc braking on any of my units. So my 18" 960 X8 and HEX may tune better by lowering the filter rate more likely or less because of the lack of braking? Well, I should get the big rig out and auto tune it before the heat hits. Thanks for the reply!
I would say anything bigger than 15" props would be getting there but it also depends on whether or not you have ESC braking available.
Let us know how you go!!
Randy did a great job extending the autotune page in the Wiki!!
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