Autotune problem in Copter 3.4.6?

Hi all,

I’m not sure whether or not if I’ve found a legitimate issue. What I know is that autotune worked very well on my aircraft in Copter 3.3.3, and does not work well in 3.4.6.

The process completes, albeit very slowly, but the values reached are unusual. After tuning and presumably saving PID gains, the aircraft flies like it hasn’t been tuned at all.

I understand that there were some changes to autotune between 3.3.3 and 3.4.6, but I’m not aware of any operator procedure changes.

For reference, the aircraft is a TBS Disco Pro, mass about 1900g, KDE ESCs and motors.

After more testing I found that I can manually set gains for roll and pitch, but even manually-entered values don’t improve yaw performance.

Has anyone seen anything like this?