Auto Tunning on rover with GPS for Yaw - using LUA script

[Karl_S]

@rmackay9

Hi,

this may benefit other users, hence my question here:

• When changing from a previous setup to a setup with GPS for yaw, is it beneficial to re-tune vehicle?
• When using the LUA auto-tuning script, ardupilot/libraries/AP_Scripting/applets/rover-quicktune.md at master · ArduPilot/ardupilot · GitHub is it designed to work with GPS for yaw configuration, and as such beneficial to re-use for tuning after a change to vehicle setup?

Thanks

[rmackay9]

Hi @Karl_S,

It shouldn’t be necessary to re-tune the vehicle when changing between compass and GPS-for-yaw.

Perhaps it’s too much detail but within AP (and probably other drone systems) there’s an estimation part (aka AHRS, EKF) and then a control part (aka PID controllers). The GPS-for-yaw affects the estimation part but does not affect the control portion.