A system identification test started or finished
InformationAutoTune and control
What ArduPilot says:
- SystemID Starting: axis=N
- SystemID Finished
“SystemID Starting: axis=3”: a test signal, a sweep from SID_F_START_HZ to SID_F_STOP_HZ of size SID_MAGNITUDE, is now being added to the control axis that SID_AXIS names; the aircraft will shake or move by itself for SID_T_REC seconds plus the fade-in and fade-out. “SystemID Finished”: the sweep has run to its end and normal control is back. The response is in the log for analysis.
Parameters to look at
| Parameter | What it is |
|---|---|
SID_AXIS | System identification axis |
SID_MAGNITUDE | System identification Chirp Magnitude |
SID_F_START_HZ | System identification Start Frequency |
SID_F_STOP_HZ | System identification Stop Frequency |
SID_T_REC | System identification Total Sweep length |
The code that sends it
SystemID Starting: axis=N
ArduCopter/mode_systemid.cpp ModeSystemId::init() · Open in ArduPilot Copter-4.7.1
ArduPlane/systemid.cpp AP_SystemID::start() · Open in ArduPilot Plane-4.7.1
SystemID Finished
ArduCopter/mode_systemid.cpp ModeSystemId::run() · Open in ArduPilot Copter-4.7.1