Hello Guys I’m trying to Do Auto Tune but it’s failing when ever I initiate. Ever time i started from AltHold mode only. Then I initiated AutoTune. But after some times it is telling that “AutoTune unable to level do manual tune”.
You would need to provide a .bin log file and more details about the copter for us to know anything definite.
Usually failing to level is because the copter is too poorly set up to even run Autotune, there is lot’s of things that could be wrong, some could even be easily fixed.
It’s possible to get failing to level messages and the Autotune goes ahead and works anyway. That could be due to wind.
Kindly check the link i have uploaded the bin file in my drive
Start with these:
ATC_ANG_PIT_P,6.0
ATC_ANG_RLL_P,6.0
ATC_RAT_PIT_D,0.006
ATC_RAT_PIT_I,0.12
ATC_RAT_PIT_P,0.12
ATC_RAT_RLL_D,0.006
ATC_RAT_RLL_I,0.12
ATC_RAT_RLL_P,0.12
ATC_RAT_YAW_I,0.05
ATC_RAT_YAW_P,0.50
Change the harmonic notch filter settings:
These double-peaks in the noise
are caused by motor mount or frame twist, CCW motors 1 and 2 have to work harder to counteract a twist with motor 3 or 4.
So fix that physical issue, set all the above parameters and give it another test flight before trying Autotune.
EDIT: also set FFT_ENABLE,0
Sorry for the delay. Id changed the parameters as per your guidance. But still Auto Tune is failing. Kindly refer to my Drive link. I have uploaded the Auto Tune Fail flight log.
Drive Link : Auto Tune Failing Log - Google Drive
You need to change the parameters AND fix the twisted motors.
I’m not getting. Kindly can you elaborate!!
There is lots of motor output oscillations, the VTOL Quicktune script would be a good idea.
You could try setting these and see what you get, then try the Quicktune script after that.
ATC_ANG_PIT_P,4.0
ATC_ANG_RLL_P,4.0
ATC_ANG_YAW_P,3.0
ATC_RAT_PIT_D,0.005
ATC_RAT_PIT_I,0.10
ATC_RAT_PIT_P,0.10
ATC_RAT_RLL_D,0.005
ATC_RAT_RLL_I,0.10
ATC_RAT_RLL_P,0.10
Try these for the harmonic notch filter, note there is a change to INS_GYRO_FILTER too, but the HNOTCH settings might need a slight adjustment later, but it will be fine for now.
Sure it is from massive output oscillation as noted. This is what it looks like so you can review the changes suggested and see for yourself if they are correcting the problem by graphing these fields.
If you want more detail about this see section 7.1.1 in the Methodic Configurator.
1 Like
I’m not getting. What’s section 7.1.1 ?
Afte Quik Tune. Should I go for Auto Tune ?
Section 7.1.1 of the tuning guide
1 Like
The ArduPilot methodic configurator software is strongly linked to a tutorial explaining how to methodically configure and tune any ArduCopter.
See section 7.1.1 of that document. If you do not know where to find it, search this forum or install the software.
I’m not at a PC right now and can not provide a link