AutoTune's gains were saved, tried or put back
What ArduPilot says:
- AutoTune: must be complete to test gains
- AutoTune: … gains for …………
- AutoTune: original gains restored
“Saved gains for Roll Pitch Yaw(E)”: on disarming, the tuned gains of the axes listed were written to the parameters and are now your tune. Only finished axes are listed: disarming in AutoTune after roll alone saves roll alone. “Pilot Testing gains for …”: you are now flying the tuned gains of those axes, not yet saved. “original gains restored” and “must be complete to test gains” come from a switch with RCn_OPTION 180 (Test autotuned gains after tune is complete): low puts back the gains from before; high asks for the tuned ones, refused until the tune has finished.
What to do, most likely first
You expected “Saved gains” and it did not come: you left AutoTune before disarming.
FixGains are saved only on disarming while still in AutoTune, or with the test switch high. Fly the tune again: after such a disarm it starts from the beginning.
The aircraft flies worse on the saved gains.
CheckParameter Compare & Migrate shows what AutoTune changed against your backup.
FixPut your earlier values back from the parameter backup, then follow the Setup & Tuning Guide's step for when AutoTune fails.
Parameters to look at
| Parameter | What it is |
|---|---|
RC7_OPTION | RC input option |
RC8_OPTION | RC input option |
Where to do it:Setup & Tuning GuideSetup & Tuning GuideParameter Compare & Migrate
The code that sends it
AutoTune: must be complete to test gains
libraries/AC_AutoTune/AC_AutoTune.cpp AC_AutoTune::do_aux_function() · Open in ArduPilot Copter-4.7.1
AutoTune: … gains for …………
libraries/AC_AutoTune/AC_AutoTune.cpp AC_AutoTune::update_gcs() · Open in ArduPilot Copter-4.7.1
AutoTune: original gains restored
libraries/AC_AutoTune/AC_AutoTune.cpp AC_AutoTune::update_gcs() · Open in ArduPilot Copter-4.7.1