Switching into or out of the AutoTune flight mode responds in the same way as raising or lowering a ch7/ch8 aux switch high assigned the AutoTune function.ĪUTOTUNE_AXES allows control of which axis are to be tuned. In Copter-3.3 (and higher) AutoTune can be setup as a flight-mode. If the vehicle feels sloppy after the AutoTune, try increasing the AUTOTUNE_AGGR parameter as high as 0.10 and attempt the autotune again. This smooths out the pilot’s input.Īlternatively try reducing the AUTOTUNE_AGGR parameter (it should always be in the range 0.05 to 0.10) and try again. If you find after performing an AutoTune that the vehicle feels overly twitchy when flying Stabilize, AltHold or PosHold (but ok in moreĪutonomous modes like Loiter, RTL, Auto) try increasing the ATC_INPUT_TC parameter to 0.25. The gains will not be saved when you disarm. If you DO NOT like the new PIDS, switch ch7/ch8 LOW to return to the Switch in the HIGH position, land and disarm to save the PIDs If you are happy with the autotuned PID gains, leave the ch7/ch8 Put the ch7/ch8 switch into the LOW position to fly using the Put the ch7/ch8 switch into the LOW position then back to the HIGH When the tune completes the copter will change back to the original The autotune may not get the signal that the sticks are centered.
Move the ch7/ch8 switch into the LOW position at any time toĪbandon the autotuning and return to the origin PIDs.Will continue auto tuning where it left off. If it drifts away (it will use the original PID gains during Use the roll and pitch stick at any time to reposition the copter.Minutes, then it will repeat forward and back. You will see it twitch about 20 degrees left and right for a few.Set the ch7/ch8 switch to the HIGH position to engage auto tuning: if tuning Roll first, point the vehicle into the wind) Take off and put the copter into AltHold mode at a comfortableįace the vehicle so that it will twitch at 90degrees from the direction the wind is blowing (i.e.
Wait for a calm day and go to a large open area.Įnsure the ch7 or ch8 switch is in the LOW position.
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