Copter-3.4-rc2 autotune P = I

Did some Copter-3.4-rc2 flights with my 250 quad with BBBmini flight controller. Autotune is now working well. But one question, when autotune finished Roll or Pitch tuning, I noticed that the value for ATC_RAT_PIT_P and ATC_RAT_PIT_I is set to the same value, this is also for ATC_RAT_RLL_P and ATC_RAT_RLL_I. Is that correct?

Best regards

Yes, that’s correct behaviour. We don’t have a separate autotuning step for the I term but in general having it the same as P works well. My understanding is that the I term’s value has much less effect on how the copter flies than the P and D so a relatively wide range of I values will work well.

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