Discussions

after doing the AutoTune the drone becomes too responsive (over sensetive)

Posted by Geert Pirens on December 2, 2014 at 11:21am

Hi,

After I did a AutoTune my drone became too responsive.

Before AutoTune flying was way more pleasant.

To rollback these settings do I have to change the PIDs to it's defauld settings?

This is my setup:

Pixhawk with Hexa Arducopter 3.2-rc14

Mission planner 1.3.15.2 (Beta)

Below the screenschots of the PIDs before and after AutoTune:

3691164720?profile=original

3691164780?profile=original

i'm not familiar with these settings and not certain what to change.

any advice is welcome!

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Replies

  • Tamás Ferencz March 8, 2017 at 10:58pm

    Thanks for confirming. This makes sense.

    leonardthall said:

    Autotune tunes each axis independently so the roll and pitch pids are then different. The tick box is just something in mission planner and not in the autopilot so when mission planner sees the values are different it unticked the box.

    Tamás Ferencz said:

    Maybe the "lock pitch and roll values" box became unticked when autotune finished. This is what I would like to figure out myself as well.

    Kim Ferady said:

    Hi, you should have  the "lock pitch and roll values" box ticked in the second screen shot.

    Your  pitch and roll PI's should normally be the same. Rate roll and Rate pitch  shouldn't be much higher than about 0.2000.

    You can enter your original numbers in the respective boxes and hit "write params".

    Then I suggest you read the Ardupilot wiki "roll pitch tuning"... 

    http://copter.ardupilot.com/wiki/ac_rollpitchtuning/

    That will explain everything better than I can!!

    Cheers!

  • Developer
    leonardthall March 8, 2017 at 10:22pm

    Autotune tunes each axis independently so the roll and pitch pids are then different. The tick box is just something in mission planner and not in the autopilot so when mission planner sees the values are different it unticked the box.

    Tamás Ferencz said:

    Maybe the "lock pitch and roll values" box became unticked when autotune finished. This is what I would like to figure out myself as well.

    Kim Ferady said:

    Hi, you should have  the "lock pitch and roll values" box ticked in the second screen shot.

    Your  pitch and roll PI's should normally be the same. Rate roll and Rate pitch  shouldn't be much higher than about 0.2000.

    You can enter your original numbers in the respective boxes and hit "write params".

    Then I suggest you read the Ardupilot wiki "roll pitch tuning"... 

    http://copter.ardupilot.com/wiki/ac_rollpitchtuning/

    That will explain everything better than I can!!

    Cheers!

  • Tamás Ferencz March 8, 2017 at 4:19am

    Maybe the "lock pitch and roll values" box became unticked when autotune finished. This is what I would like to figure out myself as well.

    Kim Ferady said:

    Hi, you should have  the "lock pitch and roll values" box ticked in the second screen shot.

    Your  pitch and roll PI's should normally be the same. Rate roll and Rate pitch  shouldn't be much higher than about 0.2000.

    You can enter your original numbers in the respective boxes and hit "write params".

    Then I suggest you read the Ardupilot wiki "roll pitch tuning"... 

    http://copter.ardupilot.com/wiki/ac_rollpitchtuning/

    That will explain everything better than I can!!

    Cheers!

  • DG December 18, 2014 at 12:27pm

    Ok, so here's the AT results. Do they seem unusual for this size copter? Very large Rate-P/R and Stab Roll. I wonder if cold weather has an effect on AT. I'll probably run it again; seems when redone on the Y6B it refined it better, but would like some opinions first. 

    Also, I don't recall unchecking the 'Lock Pitch and Roll Values' box. Is that now default?

    This is a Sky Hero Spy 750 Y6 with 2814XF-515 motors, 3.1kg AUW and 10,000 mah battery.

    uMDhQNE.png

  • DG December 17, 2014 at 11:37am

    Thanks Rob and Leonard. The Rate-P is now at .139 and helped stability well enough to do Auto Tune, plus doesn't whip around in 10 mph winds. 

    Now if only the wind would calm before it gets dark!

  • chip December 12, 2014 at 9:04am

    i am new to this.

    i do not see an auto tune button on the app.

    where is it located?

    Thank You.

    • Developer
      leonardthall > chip December 12, 2014 at 2:58pm

      Hi chip,

      Let me introduce you to the instructions.

      http://copter.ardupilot.com/

      Not a short read but worth it.

      • chip > leonardthall December 12, 2014 at 5:22pm

        thank you for the guidance-instructions is all that i required.

        will thoroughly read.

        when i say "i am new at this" i mean this particular machine-i just received my iris,but i have been flying others like phantom,ardrone,helis,gliders-you get the picture.

        Thanks for your time.

        • Developer
          leonardthall > chip December 12, 2014 at 10:04pm

          Pleasure Chip,

          Arducopter isn't as refined as the DJI products when it comes to the interface but it far exceeds it in capability and absolute control. So you can expect to get a little confused from time to time. However, we have the logging and help right here when you need it.

  • Developer
    leonardthall December 9, 2014 at 12:51am

    Hi all, 

    First a few general points. If your autotune gives you Rate D terms below 0.004 then you probably have problems with your frame. The most regular problems are a flexible gimbal or offset CG. I can easily see these problems in the autotune log provided you have RC output logging turned on.

    The input shaping terms I use for my Y6 and X8 are:

    ATC_ACCEL_RP_MAX,72000
    ATC_ACCEL_Y_MAX,36000
    ATC_RATE_FF_ENAB,1

    RC_FEEL_RP,100

    ATC_ACCEL limits the rate acceleration, RC_FEEL limits the jurk or rate of change of acceleration.

    I would not recomend changing the following terms:

    ATC_RATE_RP_MAX,18000
    ATC_RATE_Y_MAX,9000

    Hi Geert Pirens,

    Could you please post a log of your autotune so I can see what is happening. The pids you have here don't look like they resulted from autotune so I am confused. You should also remove your gimbal if you have flexible mounts as the wobbling of the gimbal can mess autotune up.

    Hi Kim Ferady

    locking the two axis together is not what we want to do after autotune. This is helpfull if you have a multi with a very central mass that looks the same in both pitch and yaw but for anything with a camera rail or a TBS discovery style layout it is very sub optimal.

    Hi David Ardis

    Your autotune looks like it didn't go so well. Could you post a log. I wouldn't be surprised if your CG is not where it should be on that frame. Spider style frames often have this problem and it can mess things up.

    Hi Edgar Scott 

    Your autotune also looks like it didn't go so well. A log would be helpful.

    Hi DG

    When starting out for the first time with a frame that doesn't fly well on the default pids you need to do a basic manual tune first.

    1. Start out by lifting off just a fraction above the ground and listen for oscillation. If you year ocilation, drop all Rate P, I and D terms by 25% and repeat until you don't hear or see fast oscillation.

    2. Set your Rate D term on your radio slider. Take off to 2 to 3 meters. Increase the Rate D until you hear or see fast oscillation. Then reduce it by 25%.

    3. Set your Rate P term on your radio slider. Take off to 2 to 3 meters. Increase the Rate D until you hear or see fast oscillation. Then reduce it by 25%.

    4. Set Rate I = Rate P.

    5. Set Stab P to 4.5 (should have already been there.

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