Hi!
I have a question regarding to autotuning yaw axis. When autopilot does autotune on yaw axis, does it tune P,I,D+ error to rate value or P, I and FILT+error to rate ?
I was starting autotune with D=0
Here we can see that autotune is setting it’s starding D to 2.5, which is the FILT I was starting with. It goes all the way to 5(maxlimit), which is absurd for D rate.
So I’m guessing autotune for yaw tunes P,I,FILT and error to rate. Am I correct?
Thank you!