I’m actually building a new quadcopter with 20’ props, which flies with the stock PID, but I would improve them by using the AutoTune feature.
The auto tuning seams to work pretty well at the beginning, but at the exact same phase of the tuning, the copter starts to oscillate and ends with a crash.
I’ve tried to do it with all axis at the same time, with one axis only, reducing the agressivity, tuning a bit the PID by hand before to start the autotune, doing the AT in AltHold and Loiter, etc. but it always results in oscillations and crash at the step 4 (according to the logs) of the AT procedure (by the way I can’t find the meaning of step 4 on the documentations which only talks about steps 0, 1 and 2…)
The drone I’m trying to tune is a quadcopter based on a Gryphon Dynamics frame with :
- Pixhawk 2 Cube FC running APM copter 3.5.7
- 20’ carbon props
- MAD 5010 240kV Motor
- Tmotor Flame 60A ESC
Here is a video of the AT just before the crash with the corresponding logs :
Do you have any advice about this strange reaction ?
What does ATUN.Step 4 means ?
Does the AT is worth or should I tune the copter manually ?