I conducted a 3-axis auto-tune today - it was a nice calm day, and the auto-tune appeared normal - taking about 12 minutes.
Looking at the log file, I noticed that there were two messages in the MavLink messages during the YAW tuning phase: data_autotune_reached _limit
There are a couple of other message threads here that mention this error - but I didn’t see anything helpful.
I’m not sure if the limit is in software - perhaps an addressing limit - or hardware - perhaps a memory limit.
I’m going to repeat auto-tune to see if it re-occurs. And to see if I can improve the PID’s. From a subsequent test flight, I think the PID’s from this auto-tune are a little too agressive.
Thanks for any comments. And if the DEVs are looking for examples of this - I hope it’s helpful.
That sounds like there bugs or limitations in the auto-tune routines. I’d be interested to know if @rmackay9 has this situation identified.
If it’s a limitation, not a bug, then users would benefit from having that limitation explained in the wiki. If it’s a bug - then as long as the DEV’s know about it, I’m sure it will be addressed at the appropriate time.
As info - I repeated the auto-tune, and it set lower pitch and roll PID’s - which is what I’d hoped for. My test flight after the first auto-tune showed that the PID’s were too aggressive in pitch and roll - especially in the fast segment of landing.
The second auto-tune only generated a single data_autotune_reached_limit message. But the yaw twitches appeared irregular. (not “twitchy” enough)
My test flight after the second auto-tune showed much better PID’s - and greater stability in steady flight. Still room for improvement though.
