AutoTune attempts to automatically tune the Stabilize P, Rate P and D, and maximum rotational accelerations to provide the highest response without significant overshoot. Copter needs to be “basically” flyable in AltHold mode before attempting to use AutoTune as the feature needs to be able to “twitch” the copter in the roll and pitch axis.
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Note
Position Hold during AutoTune is available in Copter 3.5 (and higher).
Setup before flying¶
How to invoke AutoTune¶
If you find after performing an AutoTune that the vehicle feels overly twitchy when flying Stabilize, AltHold or PosHold (but ok in moreautonomous modes like Loiter, RTL, Auto) try increasing the ATC_INPUT_TC parameter to 0.25. This smooths out the pilot’s input.Alternatively try reducing the AUTOTUNE_AGGR parameter (it should always be in the range 0.05 to 0.10) and try again.
If the vehicle feels sloppy after the AutoTune, try increasing the AUTOTUNE_AGGR parameter as high as 0.10 and attempt the autotune again.
Invoke AutoTune with Position Hold¶
In Copter-3.5 (and higher) AutoTune performs a weak position hold if invoked from Loiter or PosHold flight modes (as opposed to AltHold).
Additional Notes¶
Common Problems¶
Tip
When reporting issues with AutoTune please include a description of your frame and a dataflash log of the flight.
Dataflash logging¶
ATUN (auto tune overview) and ATDE (auto tune details) messages arewritten to the dataflash logs. Some details of the contents of thosemessages can be found on the Downloading and Analyzing Data Logs in Mission Planner wiki page.
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