Autotune twitch almost flips drone

ArduCopter Copter 4.6
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1

Like the title says, my drone was performing autotune just fine until halfway into the process one twitch made the drone rotate hard (>50 degrees). It happened twice and always during Autotune. The bin files are below. You’ll find that I even did stress flights afterwards without issues.

I’m using CubeOrangePlus running ArduPilot 4.6.2, 3115 900kv motors, 11x4.5 master airscrew props. I recently updated my AM32 ESC to the latest firmware v2.19, so I wonder if this was some kind of motor desync or some crazy motor input from the Autotune function.

Thanks!

Autotune flights

2

My experience is you can’t flash and fly with the new am32 firmware, I would go back to the previous version while tuning. Just me though.

I personally start with a lower autotune agress. number if there is anything odd about the way it flys.

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Edit…
I agree with @amilcarlucas , there are lots of steps prior to auto tune.

3

If the filters (Gyro and notch) are not correctly configured autotune will not get optimal results and might not work at all.

4

All,

I agree with @amilcarlucas. I dedicated time to fine-tuning the filters using ArduPilot’s webtools. It turned out that my custom-made drone has some peculiar noise patterns. Besides this, I realized that the original filter setup was introducing heavy delays to the FC (especially when having multi-source enabled with the other params set to default). After narrowing the filters, the drone is now flying great, and the Autotune produced very tight PID values. Nothing else on the drone has been changed.

Thanks for the help!