Fixed-wing AutoTune started, finished an axis, or stopped
What ArduPilot says:
- Stopped autotune
- Started autotune
- Autotuning ………
- …: Finished
AutoTune learns the roll, pitch and yaw gains while you fly: it is on in AUTOTUNE mode, or with the switch RCn_OPTION 107 in FBWA, FBWB, LOITER or AUTO. “Autotuning roll pitch yaw” lists the axes, chosen by AUTOTUNE_AXES. It learns from sharp, large stick movements, one axis at a time. “Roll: Finished” (the same for Pitch and Yaw; shown as an error only to be noticed) means that axis is done and its gains are saved. “Stopped autotune”: you left it; an axis that had not yet found its limits goes back to the gains it had before.
Fly it high and in calm air, and keep going on each axis until its “Finished” line: stopping early throws that axis away. AUTOTUNE_LEVEL (6 by default) sets how sharp the result is.
Parameters to look at
| Parameter | What it is |
|---|---|
AUTOTUNE_AXES | Autotune axis bitmask |
AUTOTUNE_LEVEL | Autotune level |
AUTOTUNE_OPTIONS | Autotune options bitmask |
The code that sends it
Stopped autotune
ArduPlane/control_modes.cpp Plane::autotune_restore() · Open in ArduPilot Plane-4.7.1
Started autotune
ArduPlane/control_modes.cpp Plane::autotune_start() · Open in ArduPilot Plane-4.7.1
Autotuning ………
ArduPlane/control_modes.cpp Plane::autotune_start() · Open in ArduPilot Plane-4.7.1
…: Finished
libraries/APM_Control/AP_AutoTune.cpp AP_AutoTune::update() · Open in ArduPilot Plane-4.7.1