Quicktune is tuning the QuadPlane's hover gains
What ArduPilot says:
- Quicktune: Saved
- Quicktune: … done
- Starting … tune
- Adjusting … N.N -> N.N
- Quicktune: DONE
- Limiting … N.N -> N.N
Also explained here: 1 more
- Quicktune: Starting tune
Plane's built-in Quicktune (QWIK_ENABLE 1, a switch with RCn_OPTION 181) tunes the hover gains while you hold the aircraft still in QHOVER or QLOITER. “Quicktune: Starting tune”, then for each axis “Starting Roll tune”: it raises D, then P, doubling every QWIK_DOUBLE_TIME seconds until an oscillation begins, then cuts the gain by QWIK_GAIN_MARGIN per cent: “Quicktune: Roll D done”. “Adjusting” shows a P lowered together with its D, “Limiting” a cut held to QWIK_REDUCE_MAX per cent. “Quicktune: DONE”: every axis is finished. “Quicktune: Saved”: the gains are written.
Nothing is kept until “Quicktune: Saved”: the switch high, or QWIK_AUTO_SAVE seconds after “DONE”. Switching low, landing or disarming before that puts the old gains back. Moving the sticks pauses the tune for 4 seconds.
Parameters to look at
| Parameter | What it is |
|---|---|
QWIK_ENABLE | Quicktune enable |
QWIK_AXES | Quicktune axes |
QWIK_DOUBLE_TIME | Quicktune doubling time |
QWIK_GAIN_MARGIN | Quicktune gain margin |
QWIK_REDUCE_MAX | Quicktune maximum gain reduction |
QWIK_AUTO_SAVE | Quicktune auto save |
QWIK_OPTIONS | Quicktune options |
The code that sends it
Quicktune: Saved
libraries/AP_Quicktune/AP_Quicktune.cpp AP_Quicktune::save_all_params() · Open in ArduPilot Plane-4.7.1
Quicktune: … done
libraries/AP_Quicktune/AP_Quicktune.cpp AP_Quicktune::advance_stage() · Open in ArduPilot Plane-4.7.1
libraries/AP_Quicktune/AP_Quicktune.cpp AP_Quicktune::update() · Open in ArduPilot Plane-4.7.1
Starting … tune
libraries/AP_Quicktune/AP_Quicktune.cpp AP_Quicktune::update() · Open in ArduPilot Plane-4.7.1
Adjusting … N.N -> N.N
libraries/AP_Quicktune/AP_Quicktune.cpp AP_Quicktune::update() · Open in ArduPilot Plane-4.7.1
And 3 more messages, sent from the same places.