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EKF + Autotune in 3.2.1?

Posted by Johannes on April 8, 2015 at 11:27pm

Hi,

is it a good or a bad idea to use Autotune when EKF is enabled? Or does this not have anything to do with each other?

Thanks,

Pcace

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Replies

Alex April 27, 2015 at 11:33am

Have exactly the same question ?
- Johannes > Alex April 27, 2015 at 11:41am
  
  I did try it once and got a copter wich was almost not flyable (it was flying pretymuch perfect with the default pid values).
  
  so i tuned it a little bit maunaly...
  
  Greetings
  - Alex > Johannes April 27, 2015 at 12:10pm
    
    Ok Johannes, today I did my maiden flight with my fresh build slow fly quadcopter ( 15' carbon props and 360Kv motor )
    
    I've enabled EKF function with the parameter "AHRS_EKF_USE = 1" and tried to do an Autotune but got an
    
    "AUTOTUNE ERROR: Bad Gains (failed to determine proper gains) " and the copter does nothing in the air.
    
    I will try to disable EKF and do again an Autotune invoke when the weather allow me to fly
    
    Did you use EKF finally ?
    
    Wich copter did you use ?
    
    Thanks ;)

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