AutoTune finished an axis: the gains it found
What ArduPilot says:
- AutoTune: … Angle P:N.N, Max Accel:N.N
- AutoTune: … complete
- AutoTune: … Rate: P:N.N, I:N.N, D:N.N
One axis is finished, and these are the gains AutoTune will save for it. “Rate: P, I, D” become ATC_RAT_RLL_P, ATC_RAT_RLL_I and ATC_RAT_RLL_D (PIT or YAW for the other axes); I is set equal to P on roll and pitch, and to a tenth of P on yaw. “Angle P” becomes ATC_ANG_RLL_P, and “Max Accel”, in centidegrees per second squared, becomes ATC_ACCEL_R_MAX. Nothing is saved yet: that happens when you disarm in AutoTune.
What to do, most likely first
Rate P or D came out several times larger or smaller than the others, or D sits at
AUTOTUNE_MIN_D.FixDo not save blindly. Try the gains first (switch AutoTune off and on again), low and ready to switch back; if the aircraft is twitchy or sluggish, drop them and look at vibration and the filters before tuning again.
Parameters to look at
| Parameter | What it is |
|---|---|
ATC_RAT_RLL_P | Roll axis rate controller P gain |
ATC_RAT_RLL_I | Roll axis rate controller I gain |
ATC_RAT_RLL_D | Roll axis rate controller D gain |
ATC_ANG_RLL_P | Roll axis angle controller P gain |
ATC_ACCEL_R_MAX | Acceleration Max for Roll |
AUTOTUNE_MIN_D | AutoTune minimum D |
Where to do it:Setup & Tuning GuideSetup & Tuning Guide
The code that sends it
AutoTune: … Angle P:N.N, Max Accel:N.N
libraries/AC_AutoTune/AC_AutoTune_Multi.cpp AC_AutoTune_Multi::report_axis_gains() · Open in ArduPilot Copter-4.7.1
AutoTune: … complete
libraries/AC_AutoTune/AC_AutoTune_Multi.cpp AC_AutoTune_Multi::report_axis_gains() · Open in ArduPilot Copter-4.7.1
AutoTune: … Rate: P:N.N, I:N.N, D:N.N
libraries/AC_AutoTune/AC_AutoTune_Multi.cpp AC_AutoTune_Multi::report_axis_gains() · Open in ArduPilot Copter-4.7.1