Autotune in SITL fails - "Autotune: failing to level, please tune manually"

to begin with it seems ok, but after some twiching (and no significant change in PID’s )- it fails to level in a timely fasion.


please suggest a reason/fix.

I’ve had that message come up before in SITL, but it successfully completed roll and pitch tunes. From your log your roll and pitch tracking look pretty good, but yaw looks really underactuated. Put the copter in acro mode, and do some step roll/pitch movements, and see how the logs are. For yaw, I’d try some manual tuning first and bump up ATC_RAT_YAW_P and I, and I’d take autotune gains with a pinch of salt, especially in simulation :slight_smile: