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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With the issues with the barometer and GPS, especially close to the ground, it seems like lidar or radar would be a more reliable solution for altitude measurements. I noticed that 3DR has a lidar coming that looks promising: https://store.3drobotics.com/products/lidar-lite
Hi Brandon,
Thanks for your help on this! While it always sucks when someone crashes. Your help has meant that a whole heap of people won't crash for the same reason.
https://github.com/diydrones/ardupilot/pull/1684
Apologies if I missed it... are you running FPV, and by chance is it 1.2/1.3GHz?
Hi Brandon,
Looks like you had a GPS fail safe event and it went into auto land.
Sorry to hear about your crash!!! Hope you didn't do any major damage!!
Brandon, first up, I don't see the massive vibration you are talking about. Secondly suggesting that the work of the devs needs to be thrown out and done again without any explanation of how it could be improved or even why it is bad is not a way to motivate people to help you.
I think the vibrations you see are where it hits the house.
I am trying to work out why it went to maximum throttle though. I will get back to you.
Again, sorry for the crash.
Hi Brandon,
No problem mate. We already do that and in the latest EKF it is the most robust way we possibly can do it. The EKF will reject impulses like that amazingly well. We also compare two imu's sampled at different rates to remove high offsets or spikes from noise or vibration aliasing.
I will get back to you on the throttle thing when I get to the bottom of it.
hello randy,
does autotune work on the apm 2.5 and 2.6 or is it only for pixhawk?
many thanks
Can't get autotune to start!
My quadcopter flies but I want to try autotune now. I have a 3 position switch that should be able to swtich from stabilize to alt-hold to autotune but autotune never starts. Instead I tried having ch7 enable autotune and I checked in "radio calibration" that the PWM goes over 1800 (about 1850) but again - no autotune mode. Should the log show it in the mode display? The log shows text for "stabilize" mode and "alt-hold" mode but never shows any other mode. The log definitely shows nothing with the ATUN tag.
I have apm2.6. And firmware 3.1.5. I have reduced vibrations quite a bit - I think all 3 axes are under 1 in the graph from top to bottom in the noise (with no props it's about .5 from top to bottom for the noise). I don't think it's the noise - would that not allow it to go into calibration?
When copter is on USB only mode should I be able to get it to go into "autotune" in the GUI? It shows stabilize mode and "armed" but never autotune. I assumed the motors actually needed to be turning but if not I could maybe debug this without even turning on the motors?
What should I try next?
Well I made some progress - I think? I have 3.2 and also have apm planner 2.0.15 (instead of 3.1.5 and 2.0.14). Now it shows "autotune" in the log as the mode (first stabilize, then alt-hold and then autotune). The copter I suppose - maybe? - does something different? Not certain. But I get zero ATUN messages in the log. I have log set to only log "default" messages. Is this correct? I didn't see a bitmask to log anything.
@rob burrows - yes - I have stabilize and alt-hold on ch5 and autotune on ch7. alt-hold definitely still is working while in autotune mode but I left it flying for 4 minutes and now want to see the progress. I can't tell if it did anything.
In 3.1.5 I could go into terminal mode and type I believe "enable all" and it listed the things that I could log and ATUN wasn't on the list so I assumed it always logs this. In 3.2 terminal mode doesn't seem to do much - it doesn't respond to typed commands - just keeps sending data to the terminal - some of which is readable at first but then the rest is not (random looking graphics characters). I grabbed the log with the GUI but anyway - the problem seems to be no ATUN messages.
Hi George,
Can you post a log please.
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