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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Mathieu - try connecting your receiver directly to your ESC module and while holding the copter down safely use your transmitter to move the motor from full off to full on back and forth very quickly, pause at different speeds and make sudden and extreme changes. See if you can get the ESC/motor combination to stall.
Georges, Leonard,
Thanks A TON for your help.
I will follow your advice Robert, see if something goes wrong and let you know.
(If it does, I'm on the market for new 30A ESCs, since motors are almost new and Afro can have issues - which I thought had never experienced with my 2216 900kv motors - any idea welcome
And I'll read the wiki pages related to logs in depth.
Thank you guys.
Cheers,
Mathieu
Well if it *does* fail my suggested test that would be great news and you might be able to adjust the ESC modules (mine are programmable by toggling the throttle and listening to the crazy beep patterns. Or you might want to get new ones. But if it does *not* fail my test then you are back to square one and need to check that maybe the prop is slipping on the shaft (the torque from these motors can be impressive - combined with vibrations prop might slip) or bad wiring somewhere in the path (could be even inside the apm! - push and pull on the apm case, especially the 2 wires running from apm to esc - push and pull on that while motors are spinning (maybe remove props first!)).
Thank you so much Robert.
I'm afraid I'm back to square one.
Did connect that esc directly to a receiver throttle up/down quickly, stopped half way...
"Unfortunately" it reacted perfectly to the inputs and didn't stall.
I'm not sure about a weak wire or connection but I'll try to push/pull these.
Prop slipping may be a lead to follow.
There's a way to update the afro escs and I have the USB tool.
I may try that too.
Hope I can confidently fly again soon :)
Hi Mathieu,
I think the autotune test only comes up good if the autotune is done and tested in that flight.
Yes, that is motor 3.
If you find that when you use the default pids you don't see a problem it probably means you had a sync problem or a noise interference problem on your number 3 caused by the more aggressive pids created by autotune.
In the logs there is an RCout in the latest release but I think it may have been called something different in earlier releases.
There is a pretty good description of all the logs in the wiki I think.
Good luck and let me know if I can help any further.
Hello everyone,
I really need your help to understand what went wrong this morning after I performed an Autotune.
I have been using the standard PID settings and was pretty happy with them.
Even started to feel confident :)
Today, I decided it was time to Autotune.
The log (2015-05-31 09-00-12.bin) file is attached. I hope there is enough information inside.
- Started in Stabilize, change to AltHold and flicked the Autotune switch programmed on Ch8
The "dance" didn't start.
- Flew a bit more in althold, landed, started again, little loiter, PosHold, flicked autotune switch again with no luck.
- New attempt to engage Autotune and Hurray! Copter started its dance.
Everything went well. It did roll, then pitch and I landed (a bit hard).
- I disarmed the FC (yaw left) with Autotune switch still up.
I was happy... until I took off again...
(next log is attached: 2015-05-31 09-16-44.bin)
- Changed battery and took off in stabilize.
It flew fine for a couple of seconds and then started to plunge on the right and crashed.
- Tried again and it did exactly the same.
- Every next attempt ended the exact same way: crash.
And I broke my gimbal arm on the last attempt.
I even later tried to rerun Autotune and it crashed the same .
Please can anyone help me interpret the logs attached and understand how to fix the problem?
Here is a screenshot of the PIDs I ended with.
Any inconsistencies?
My setup:
TBS Discovery
AUAV-X2
Afro ESCs 30A (nevera had a probleme with them)
Flyduino 2216 900KV
3DR GPS + Compass
Telemetry (868 MHz)
EzUHF Rx
Thanks A LOT!
Mathieu
P.S.: I have 2 other logs from this morning that I can post if needed
2015-05-31 09-00-12.bin
2015-05-31 09-16-44.bin
2015-05-31 09-19-03.bin
Hi Nicholas,
Autotune assumes you have a stable tune to start with. You should do a manual tune on the 12 inch props and make sure you can't flip it in stabilize by bashing the sticks around.
Sorry to hear about your crash!!
Hi Nicholas,
Congratulations for finding your problem. Let us know how the tune goes when you get it back in the air!!
Hi Patrick,
Sorry about your crash. I can see from your logs that at the time of the crash the copter was using the normal stabilized pids and was not doing any tests. This means the copter crashed in the equivalent of stabilized mode. Unfortunately you don't have output logging turned on so I can't get any more information from the logs. However based on your desired and measured roll pitch and yaw angles it looks like you lost your front right prop, motor, or esc.
Sorry for your crash!!
Hi Patrick,
Yeh, we want to minimise the danger in the case that someone gets a poor tune. As we become more confident that autotune is doing all the right things and that we understand how it fails we relax these limits.
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