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
leonardthall,
getting back to autotune overshooting on tricopters,
attached is a smallish tri log I tried to autotune today in the morning.
the resulted PIDs are really off. I would greatly appreciate you figuring out why autotune seems to miss tricopters.
On my side I will do whatever it is necessary to help you.
Thank you.
Conveniently in the post above your post shows where those values go. RPGain goes in the P and I values for the Rate box for either roll or pitch depending which axis it was working on (take the final values before it switched to the next axis). I know - identical values for P and I but that's just how autotune does it.
The RDGain value goes in the D term.
The SPGain you want to copy to the "Stabilize (roll or pitch) P" value higher up on the screen (top row of boxes).
That's it. Those are the only values that autotune messes with. So if you copy those values in now it should get you closer to "tuned". Also it should tune the first axis much faster. Be aware that many people want a less twitchy, less reactive, less responsive result than autotune provides. So you might want to lower your P and I values a bit manually if you don't like the responsiveness.
Is there a handout for reducing autotuned values for Coaxial copters (Y6B). Mabe reduce some values to xx percent do get near to the optimum?
Can't you take the connection from your receiver's ch6 and put it to the APM's ch7 input?
Without knowing the specifics of those components, I think the logical choice would be as you describe. You can always plug it in and check the radio cali screen to see what's what.
Ok, thanks Leonard.
I'll try to be more patient considering hard winter has set in. It isn't bad flying, but should be more stable in windy conditions as big as it is. I was seriously considering getting out of the co-axial copter business altogether, but will wait for the changes in AT.
Why won't the 'Lock Pitch and Roll Values' box stay unchecked after writing the parameters? After each AT, the box is checked and all the Pitch/Roll values are the same.
Today I took the laptop with me, unchecked the box, saved it, did AT, refreshed the parameters and there it was again; box checked and Pitch/Roll values still identical.
Thanks.
Hi DG,
Looks like your autotune isn't finishing. Do you have a log?
See attached. I don't recall it necessary to unplug the power after disarming, turning AT off. Maybe that is the problem?
If you see anything else unusual feel free to critique. And pay no attention to the battery FS violation....at least it worked as instructed. :)
375.BIN
Hi DG,
Could you tell us about your frame and maybe add a couple of photos.
Your autotune is maxing out on each axis and that is why your values aren't changing and are the same. I suspect that mission planner is then seeing that they are all the same and enabling the same values box.
Your copter is an interesting case as I haven't seen a copter got to maximum on all values.
-
11
-
12
-
13
-
14
-
15
of 39 Next