AutoTune Mode without Controller, i.e. from mavproxy

ArduCopter
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1

I am flying the copter using a RasPi as a companion computer which I SSH into from my laptop over an AdHoc wifi connection. Mavproxy is run on the companion computer.

I am able to perform most tasks I need.

However when I attempt to perform AutoTune I get the following error:

AP: Mode change to AUTOTUNE failed: initialisation failed

the process I am following is:

arm and take off to 2

mode loiter (OK)

mode AutoTune

LOITER> Got COMMAND_ACK: DO_SET_MODE: FAILED
AP: Mode change to AUTOTUNE failed: initialisation failed
AP: EKF3 IMU0 MAG0 in-flight yaw alignment complete
AP: EKF3 IMU1 MAG0 in-flight yaw alignment complete
mode AutoTune
LOITER> Got COMMAND_ACK: DO_SET_MODE: FAILED

on other attempts I just get:

LOITER> Got COMMAND_ACK: DO_SET_MODE: FAILED
AP: Mode change to AUTOTUNE failed: initialisation failed

on an earlier attempt I also got:
AP: Mode change to AUTOTUNE failed: initialisation failed
AP: Battery 1 is low 10.33V used 68 mAh
AP: Battery Failsafe

The battery was 90% charge at the time and it was reported at 80% at the end of the flight.

Is it even possible to perform Autotune without a controller, and just using Mavproxy?

2

It is not a good idea to autotune without a controller, and it is a good idea to tune it in ALT_HOLD.
I tried below in sitl and it seems it is working without a controller:

mode LOITER
arm throttle
rc 3 1800  
# waited to reach 10 meters of altitude
rc 3 1500
mode AUTOTUNE

Did you do anything other than above, more or less?

3

First you need to fix your voltage monitoring problems.

  1. The battery monitor will ALWAYS report 100% after booting.
  2. It is YOUR responsibility to provide a 100% charged battery at boot time.
4

The battery was at 100% at boot. I had just finished charging it.

5

I took off to 2 metres (takeoff 2)
set mode to loiter
Attempted to go into autotune.

Got the error.

I shall try your procedure, or just do it with a controller

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