The QuikTune script is tuning the hover gains
What ArduPilot says:
- Tuning: starting tune
- Tuning: saved
- limiting … N.N -> N.N
- Tuning: … done
- Tuning: DONE
- Quicktune for quadplane loaded
Also explained here: 3 more
- Quicktune for multicopter loaded
- adjusting … N.N -> N.N
- Starting … tune
The QuikTune Lua script (VTOL-quicktune.lua, QUIK_ENABLE 1) tunes the gains while you hold the aircraft still. “Quicktune for multicopter loaded”: the script started. “Tuning: starting tune”, then for each axis “Starting RLL tune”: it raises D, then P, doubling every QUIK_DOUBLE_TIME seconds until an oscillation begins, then cuts the gain by QUIK_GAIN_MARGIN per cent: “Tuning: RLL_D done”. “adjusting” shows a P lowered together with its D, “limiting” a cut held to QUIK_MAX_REDUCE per cent. “Tuning: DONE”: every axis is finished. “Tuning: saved”: the gains are written.
Nothing is kept until “Tuning: saved”: the switch high, or QUIK_AUTO_SAVE seconds after “DONE”. Switching low, landing or disarming before that puts the old gains back. The script sends “loaded” at the highest severity, so a ground station may show it in red; it is not an emergency.
Parameters to look at
| Parameter | What it is |
|---|---|
QUIK_ENABLE | Quicktune enable |
QUIK_RC_FUNC | Quicktune RC function |
QUIK_AXES | Quicktune axes |
QUIK_DOUBLE_TIME | Quicktune doubling time |
QUIK_GAIN_MARGIN | Quicktune gain margin |
QUIK_MAX_REDUCE | Quicktune maximum gain reduction |
QUIK_AUTO_SAVE | Quicktune auto save |
QUIK_OPTIONS | Quicktune options |
Where to do it:Setup & Tuning GuideSetup & Tuning GuideLua Applet Catalog
The code that sends it
Tuning: starting tune
libraries/AP_Scripting/applets/VTOL-quicktune.lua update() · Open in ArduPilot Copter-4.7.1
Tuning: saved
libraries/AP_Scripting/applets/VTOL-quicktune.lua update() · Open in ArduPilot Copter-4.7.1
limiting … N.N -> N.N
libraries/AP_Scripting/applets/VTOL-quicktune.lua limit_gain() · Open in ArduPilot Copter-4.7.1
Tuning: … done
libraries/AP_Scripting/applets/VTOL-quicktune.lua advance_stage() · Open in ArduPilot Copter-4.7.1
libraries/AP_Scripting/applets/VTOL-quicktune.lua update() · Open in ArduPilot Copter-4.7.1
And 5 more messages, sent from the same places.