AutoTune did not start
What ArduPilot says:
- AutoTune: failed yaw allocation
- AutoTune: failed pitch allocation
- AutoTune: failed … allocation
- No axis selected for tuning!
- Autotuning not allowed in this mode!
- AutoTune: failed roll allocation
AutoTune was asked for and could not begin. “No axis selected for tuning!”: AUTOTUNE_AXES is 0, so there is nothing to tune. “Autotuning not allowed in this mode!”: the AutoTune switch (RCn_OPTION 107) went high in a mode that cannot tune; it works in FBWA, FBWB, LOITER and AUTO. “AutoTune: failed … allocation”: the board had no free memory for the tuner of that axis.
What to do, most likely first
The switch was used in MANUAL, STABILIZE, CRUISE or another mode that does not tune.
FixSwitch to FBWA first, then move the AutoTune switch high; or put AUTOTUNE on the mode switch.
AUTOTUNE_AXESwas set to 0.FixSet
AUTOTUNE_AXESto 7 for roll, pitch and yaw (1 roll, 2 pitch, 4 yaw; add them up).The board is out of memory (“failed … allocation”).
CheckThe free memory the ground station shows is only a few kilobytes.
FixFree some: switch off features you do not use, such as scripting (
SCR_ENABLE0) or terrain data (TERRAIN_ENABLE0), reboot and try again.
Parameters to look at
| Parameter | What it is |
|---|---|
AUTOTUNE_AXES | Autotune axis bitmask |
SCR_ENABLE | Enable Scripting |
TERRAIN_ENABLE | Terrain data enable |
The code that sends it
AutoTune: failed yaw allocation
libraries/APM_Control/AP_YawController.cpp AP_YawController::autotune_start() · Open in ArduPilot Plane-4.7.1
AutoTune: failed pitch allocation
libraries/APM_Control/AP_PitchController.cpp AP_PitchController::autotune_start() · Open in ArduPilot Plane-4.6.3
AutoTune: failed … allocation
libraries/APM_Control/AP_FW_Controller.cpp AP_FW_Controller::autotune_start() · Open in ArduPilot Plane-4.7.1
No axis selected for tuning!
ArduPlane/control_modes.cpp Plane::autotune_start() · Open in ArduPilot Plane-4.7.1
And 2 more messages, sent from the same places.