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 dropbox links to the autotune logs:
Autotune 01 https://www.dropbox.com/s/sr3cuukrpivg1aw/autotune01.bin?dl=0
Autotune 03 https://www.dropbox.com/s/j6u3gzk2hf6pba6/autotune03.bin?dl=0
Attached are the short log files of the X8 flying after each autotune.
Flight01.bin
Flight03.bin
Video isn't possible to see now, says that is private; It's only my issue?
arducopter will interpret the trims as the pilot trying to take control and pause autotune.
Sounds like you need to level the copter.
Hi Michael,
If you send me your log I should be able to give you better starting parameters based on your tune.
To do a manual tune, increase Rate_D until you get some oscillation, then back it off by 25%. Do the same for Rate_P. It doesn't matter how high it goes, your setup may need it.
Your log should tell me much more.
Hi Michael,
You actually have a funny oscillation in your copter like you have a flexible gimbal mounted or something else that can move on your copter.
Roll looks like you will need Rate P of 0.15 and Rate D of 0.004.
Pitch Rate D of 0.0117, Rate P of 0.353 and Stab P of 7
Yaw Rate P can start off at 0.7
It also looks like you were having to adjust your copter pretty regularly so you may want to try again when you have better conditions.
What values did you come up with in your manual tune?
I and P always get the same value when you do autotune. Not sure why but that's how it is written.
Also You want everything on your copter to be stiff - nothing that can wobble. So never hang something on a string below the copter. I learned this the hard way with a battery that was secure but very loosely mounted and could slide around a few inches. Also it was far from center of gravity (towards the back to counter the weight of the camera).
Hi George,
Roll and Pitch get I = P, Yaw gets I = 0.1 x P.
Hi Michael,
Don't add Rate_Yaw_D, leave it set to zero. The physics of copters doesn't want it. The main parameters you want to use are:
RATE_YAW_FILT_HZ,5 (2 to 5) for manual tuning I would set to 2 and increase P
RATE_YAW_P, increase until oscillation
RATE_YAW_I, RATE_YAW_P x 0.1
Hi Michael,
Go to the parameter list and set it to zero. If Yaw D isn't zero then your tune is bad before you begin.
When ever you change Yaw rate P set Yaw rate I to 0.1 x P. As long as your I term is less than 0.1 x P you won't see anything that causes any trouble.
Got 2 days ago a new problem in my new autotune attempt ( new battery from 8000mAh to 10000mAh)
Never experencied this type of problem, and because i can't clearly highlight what happend in the log files, hope anyone had a clue .
So in the autotune process the copter suddenly lost altitude in a semi-rapid descent and approach dangerously the ground, I've then directly engaged the loiter switch and put full throttle without success, the copter have slowly hit the ground without any damage
I can clearly see than my ch3 throttle goes to 0 , but on my transmitter I was fully throttle ....
Here are the share link of the log file : 05-06-2015 log
Any help would be really appreciated
Thanks
Log Browser - 2015-06-05 10-43-54.log.jpg
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