Autotuning a 24-inch Drone with Changing Payload

ArduCopter
1

Hi everyone,
I’m working on a 24-inch quadcopter that flies with different payloads.

• No payload: 7.5 kg
• Fully takeoff weight: up to 12kg

I’d like some advice on the best way to Autotune for this setup.
Is it better to run Autotune no payload, fully loaded, or somewhere in between?
Also, how do you usually handle PID tuning when the payload changes this much?

Thanks in advance!

2

Simple:

Autotune with no payload.
Change the 3 acceleration limits parameters acording to the payload weight as described in the autotune documentation.

3

Thanks Lucas! Yesterday I have an Autotune and this happen, what does that mean: Twitch size Determination Failed

IMG_5867
IMG_58671920×2560 1010 KB

4

It means that your tuning preceeding the autotune could be improved. Probably the notch filter is not good enough.

I’m guessing you did not use ArduPilot methodic configurator software to tune it, right?