Autotune fails on Y6 3.5RC7

ArduCopter Copter 3.5
1

Flying 3.5RC7 there is strange behaviour in Autotune. When engaging Autotune in loiter mode the copter starts twitching in the roll axis like it should. After a few seconds the vehicle corrects its heading to where it thinks the wind comes from. After that the twitching happens in both axis at the same time (roll and pitch) and the autotune takes a long time to finish. The parameters found in this situation are usually to low, so the copter flies unstable.
When there is no wind the autotune process works as it should.

In the attached log I stopped autotune before it finished.

Hubertus

2

Thanks very much for the report. I think what’s happening is that between twitches it’s trying to get back towards the center of the circle. There is some overlap though which I don’t think is good for the autotune.

I’ll pass this onto Leonard.

3

Hi Hubertus,

Yeh, I saw this too. I have a fix for it and it will be in by the release.

Thanks!!