Quicktune stopped, or would not start

What ArduPilot says:

• Quicktune: attitude error N.Ndeg - ABORTING
• QuickTune aborted
• QuickTune disabled
• Quicktune: Reverted
• Quicktune: Must be flying to tune

“Must be flying to tune”: the switch is in the tune position but the aircraft is disarmed or not yet flying (repeated every 5 s). “Reverted”: the switch went low, or the aircraft landed or disarmed, before the tune was saved; the gains from before are back. “QuickTune aborted”: you changed to a mode it does not work in (it runs in QHOVER, QLOITER and Guided). “QuickTune disabled”: QWIK_ENABLE was set to 0 in the middle. “attitude error … ABORTING”: the aircraft was more than QWIK_ANGLE_MAX (10° by default) away from the attitude asked of it, so the old gains were put back at once.

What to do, most likely first

1. “attitude error”: a gain rose into a real oscillation before Quicktune caught it, or a gust or a stick movement tilted the aircraft.

   FixFly it again in calm air with the sticks left alone. A higher QWIK_DOUBLE_TIME tunes more slowly and a lower QWIK_OSC_SMAX stops each gain earlier.

2. “Reverted” when you meant to keep the tune: the switch went low, or you landed, before saving.

   FixAfter “Quicktune: DONE” move the switch high and wait for “Quicktune: Saved”; with a two-position switch set bit 0 of QWIK_OPTIONS and QWIK_AUTO_SAVE to a few seconds.

3. “Must be flying”: the switch was left in the tune position on the ground.

   FixSwitch low, take off and hover in QHOVER or QLOITER, then switch to tune.

Parameters to look at