What AutoTune is testing right now

What ArduPilot says:

• AutoTune: Updating Gains
• AutoTune: Aborting Test
• AutoTune: Leveling
• AutoTune: Testing
• AutoTune: unknown step
• AutoTune: … … N%

Sent every 2 seconds while AutoTune tests. First the axis: Roll, Pitch, Yaw(E) (yaw, tuning its filter) or Yaw(D) (yaw, tuning D). Then the step, in the order it takes them on each axis: Rate D Up, Rate D Down, Rate P Up, Angle P Down, Angle P Up. The percentage counts the good results in a row the step has collected: it needs four, so it reads 0, 25, 50 or 75, and it falls back when a twitch disagrees with the one before. After Angle P Up the axis is complete and the next one begins.

What to do, most likely first

1. The percentage keeps falling back: wind is disturbing the twitches.

   FixTune in calm air, and bring the aircraft back with the sticks when it drifts; a tune usually needs several minutes an axis, and may need one battery per axis.

2. The battery will not last for all the axes.

   FixChoose one axis at a time with AUTOTUNE_AXES (1 roll, 2 pitch, 4 yaw), and land and disarm in AutoTune after each to save it.

The short lines “AutoTune: Leveling”, “Testing”, “Updating Gains” and “Aborting Test” are sent by the traditional helicopter's AutoTune only.

Parameters to look at

Where to do it:Setup & Tuning Guide