AutoTune: Failed to level, please tune manually

ArduCopter Traditional Helicopter
1

I am processing the AutoTune flights according to this Table.
During flight #2 I got the message mentioned in the title.
What can I do ?

Log file

2

@twistedwings I was able to pull off enough information to maybe help tune the pitch axis a little better and see if you can have it run the pitch tuning for rate P and Rate D again. Make the following changes

ATC_RAT_PIT_P = 0.035

ATC_RAT_PIT_D = 0.003

If it fails again then move on to the roll tuning for Rate P and Rate D.

3

Thank you very much !
I will give that a try on the next calm day.

4

Unfortunately it failed again.
So I’ll skip this one and continue with roll.

5

Unfortunately roll tuning failed as well.

“Failed to level, please tune manually”.

Log file

6

I looked at your log. The roll axis looks pretty good based on the frequency sweep and what I predicted the gains should be. The default gains are pretty close so I would not touch them. I think you can raise your I gains for pitch and roll to 0.1. So set these params

ATC_RAT_PIT_I = 0.1

ATC_RAT_RLL_I = 0.1

I want you to set these params as well and run the tune check sequence on pitch and roll and post the log

ATC_ANG_PIT_P 6

ATC_ANG_RLL_P 6

7

If your autopilot is mounted on a compliant vibration damper, it can work against you like this. Recommend a firmer, more direct-to-frame mount if this is the case.

8

thank you for the support.
I changed the params and ran the tune check.

Log file