AutoTune - Suggested Tuning Sequence

ArduCopter Traditional Helicopter
1

I’d like to try AutoTune soon.

The documentation includes a table with recommended flight settings.

https://ardupilot.org/copter/docs/traditional-helicopter-autotune.html#autotune-flights

I don’t understand the following:

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Should AUTOTUNE_AXES be set to 3 or 2?

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What value should AUTOTUNE_AXES have?

2

AUTOTUNE_AXES is a bitmask. On a Heli, you add up the following values:

  • 1 for roll
  • 2 for pitch
  • 4 for yaw

That is, if you want to tune both roll and pitch in a single flight, you add 1 and 2, which makes 3.

In your screenshot, there are two flights, the first wants both roll and pitch to be tuned (hence 3), the second wants to only re-tune pitch (hence 2).

3

I’m sorry, but I don’t understand.

Flight 1: AUTOTUNE_AXES can be 2 or 3, but not both.

Flight 6: No value is specified for AUTOTUNE_AXES.

4

There is a thin line after AUTOTUNE_SEQ for Flight 1 on your screenshot. The next AUTOTUNE_AXES is for Flight 2. Here are the partitions, where I enhance the existing horizontal lines in red color:

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This should also resolve your doubts about Flight 6.

5

Ah, now I understand the table.
Without the red lines it is difficult to read (at least for me).
Thank you very much!

6

What are you using for GCS? If you use mission planner you can just click bitmask and select what you want. Its presented a little simpler that way.

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7

I use Mission Planner.
My problem was that I didn’t correctly identify the boundaries
between flights in the table.