last week I tried autotune with my Y6 copter. With my tricopter it worked so great, that I was expecting a good result with the Y6.
At some point the copter did some strange movements and nearly crashed to the ground. I could recover it by taking over controll and did an emergency landing in a field.
Ii was very foggy that day and after the flight, the copter was pretty wet. So I thought, it could be some issue caused by the wetness.
So I did not pay to much attention to that.
Today I took out my Y6 and tried autotune again as it was dry and no wind today.
I started autotune and it began to do the rocking over roll and then over pitch. Nearly at the end of the pitch session, it became really scary. The back motors nearly stopped for several times what led to very scary movements. I had enough height and good nerves and so I let it happen. It was exactly the same as it was last week when I did autotun in foggy conditoins.
After a few of this movements, it stopped. Then I flew a few rounds, just to give the compass same data to calibrate and then landed, disarmed and switch off autotune to save the values.
Then tried the new settings and was really disappointed. the copter was terribly shaky.
At home I looked at the PID values and saw some really strange values.
I attached the PID settings before the autotune (Defaults with 3.1rc5 Y6) and after the autotune.
I also attached the logfile of that flight.
I mam just uploading the onboard video. Will link to it, when it's all up.
Hopefully someone could find out what's going wrong with this autotune.