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:
i'm not familiar with these settings and not certain what to change.
any advice is welcome!
Replies
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:
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.
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!
i am new to this.
i do not see an auto tune button on the app.
where is it located?
Thank You.
Hi chip,
Let me introduce you to the instructions.
http://copter.ardupilot.com/
Not a short read but worth it.
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.
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.
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.