AutoTune finished every axis
InformationAutoTune and control
What ArduPilot says:
- AutoTune: Success
Every axis chosen in AUTOTUNE_AXES has been tuned. The aircraft sounds a tone and goes back to the gains it had before, so that you land on a tune you know. The new gains are held in memory, not saved. From here: to try them, leave AutoTune and enter it again (“AutoTune: Pilot Testing gains for …”); to keep them, land and disarm while still in AutoTune; to drop them, leave AutoTune before you disarm.
Disarming in AutoTune straight after “Success” saves gains you have not flown yet. Try them first, low and ready to leave AutoTune if the aircraft shakes.
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: Success
libraries/AC_AutoTune/AC_AutoTune.cpp AC_AutoTune::update_gcs() · Open in ArduPilot Copter-4.7.1