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AutoTune attempts to automatically tune the Stabilize P, Rate P and D, and maximum rotational accelerations to provide the highest response without significant overshoot. Copter needs to be “basically” flyable in AltHold mode before attempting to use AutoTune as the feature needs to be able to “twitch” the copter in the roll and pitch axis.
Warning
AutoTune is not always able to determine a good tune for the vehicle and may result in gains that lead to an unflyable vehicle that may crash. Please follow the Tuning Process Instructions before attempting to use AutoTune. After following those instructions, and have evaluated your initial tune, should to try AutoTune.
There a number of problems that can prevent AutoTune from providing a good tune including:
online, free AutotuneSetup before flying in AutoTune mode¶
How to invoke AutoTune¶
If you find after performing an AutoTune that the vehicle feels overly twitchy when flying Stabilize, AltHold or PosHold (but ok in moreautonomous modes like Loiter, RTL, Auto) try increasing the ATC_INPUT_TC parameter to 0.25. This smooths out the pilot’s input.Alternatively try reducing the AUTOTUNE_AGGR parameter (it should always be in the range 0.05 to 0.10) and try again.
If the vehicle feels sloppy after the AutoTune, try increasing the AUTOTUNE_AGGR parameter as high as 0.10 and attempt the autotune again.
Invoke AutoTune with Position Hold¶
Warning
A better tune can often be achieved by invoking AutoTune from AltHold as described above instead of from Loiter or PosHold as described below
AutoTune performs a weak position hold if invoked from Loiter or PosHold flight modes (as opposed to AltHold) while doing an autotune.
If AutoTune fails¶
If AutoTune has failed you will need to do a manual tune. Filtros snapchat videos.
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Some signs that AutoTune has been successful are (besides DataFlash logs and Ground Control Station messages):
AutoTune will attempt to tune each axis as tight as the aircraft can tolerate. In some aircraft this can be unnecessarily responsive. A guide for most aircraft:
These values should only be changed if AutoTune produces higher values. Small aerobatic aircraft may prefer to keep these values as high as possible.
Additional Notes¶
Common Problems¶Autotune Simulator Online Game
Tip
When reporting issues with AutoTune please include a description of your frame and a dataflash log of the flight.
Dataflash logging¶
ATUN (auto tune overview) and ATDE (auto tune details) messages arewritten to the dataflash logs. Some details of the contents of thosemessages can be found on the Downloading and Analyzing Data Logs in Mission Planner wiki page.
Ground Control Station Messages¶Autotune Online Game
For each axis there are several phases to the tune. Rate PIDs are adjusted first, then ANGLE parameters. Progress messages during these phases are sent to the GCS (and recorded in the Dataflash logs).
Typical sequence during tuning might be:
This is during Pitch Rate P adjustment, indicating a twitch is about to happen as the P is being tried at an increased value of 0.052298, but first it is waiting until it gets back to level from the last twitch (WFL= Waiting for level), and then it reports that the result of this twitch is within targets and successful. But this has to occur 4 times in a row, before moving on to the next phase.
Note
During YAW rate phase of tuning, the messages will show a value for “d” that is not ATC_RAT_YAW_D, which is usually 0, but rather it’s the value of ATC_RAT_YAW_FLTE, that is being changed.
Anytime the process is interrupted by pilot stick movements, the
message appears.
If you stopped the tune and dis-armed while still in AUTOTUNE, and an axis tune has completed, you will get a message showing that the new gains have been saved for that axis. If there is not a message to this effect, but think you finished at least one axis, then you probably dis-armed while not in AUTOTUNE mode, and did not actually save them.
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Tip
If you do happen to accidentally discard a sessions AUTOTUNE values by disarming when not in AUTOTUNE, you can examine the dataflash log for the GCS messages it sent during tune and manually set them on the bench.
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The company Voctro Labs,S.L., with registered offices in C/ Pujades 74-80, 08005 - Barcelona (Spain), with Tax Identification Number B-65.699.662, registered in the Companies Registry of Barcelona, Volume 42942, Folio 161, Page number B 42023 (hereinafter referred to as “VOCTRO LABS”) is the owner of the web site http://www.voiceful.io (hereinafter referred to as “Web Site”).
Address: C/ Pujades 74-80, 08005 – Barcelona (Spain).
Telephone: +34 931 587 637. Email: [email protected]
Updated in February 2020
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