Hi all,
Sorry for the delay. I have been swamped.
For those of you having trouble with a poor autotune result increase AUTOTUNE_AGGR to 0.1. This is generally caused by too much noise increasing this number addresses that.
If you have a 250 quad then you will need to set this:
INS_GYRO_FILTER,40
ATC_RAT_RLL_FILT,40
ATC_RAT_PIT_FILT,40
AUTOTUNE_AGGR,0.1
AUTOTUNE_MIN_D,0.0005
For those that are having trouble getting autotune to start. Make sure your throttle is in the dead band. The other issue I have seen is caused by increased rate gyro noise stopping autotune from running (hard mounting may be causing this).
I am pretty much finished all the changes for the 3.4 release now so I am trying to kick into flight test mode. I will be loading 3.4 onto about 8 different copters and testing autotune so I hope to have more info for you soon.
Sorry again for the slow response but both Randy and I are struggling with time to get to everything. We are almost there now (I hope).
Thanks for all your support.