AutoTune began its tests, or stopped them
What ArduPilot says:
- AutoTune: Started
- AutoTune: Stopped
“Started”: AutoTune begins its tests, or picks them up again. The copter holds itself level, twitches about one axis, measures how it answered and adjusts the gains, over and over. The gains you flew before are kept aside. “Stopped”: you left AutoTune (the switch or a mode change) and the gains from before are in use again. What was learned so far is remembered until you disarm, so switching AutoTune on again continues at the same axis and step.
AutoTune starts only in the air, from Stabilize, AltHold, Loiter or PosHold; entered from Loiter or PosHold it also drifts back gently to where it began. Landing and disarming after “Stopped” saves nothing.
Parameters to look at
| Parameter | What it is |
|---|---|
AUTOTUNE_AXES | Autotune axis bitmask |
AUTOTUNE_AGGR | Autotune aggressiveness |
AUTOTUNE_MIN_D | AutoTune minimum D |
Where to do it:Setup & Tuning GuideSetup & Tuning Guide
The code that sends it
AutoTune: Started
libraries/AC_AutoTune/AC_AutoTune.cpp AC_AutoTune::update_gcs() · Open in ArduPilot Copter-4.7.1
AutoTune: Stopped
libraries/AC_AutoTune/AC_AutoTune.cpp AC_AutoTune::update_gcs() · Open in ArduPilot Copter-4.7.1