Heavy Hexacopter failing in Autotune

ArduCopter
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1

Auto tune getting failed with message “AUTOTUNE: Twitch Size Determination Failed”
Hi, users

We were testing a Hexacopter with propeller size 29 inch (2995), drone wheelbase 1600mm and takeoff weight of 20kg (GAIA 160). We are using T-Motor U8lite 85KV motor with 60amps flame ESCs

Screenshot 2025-06-26 181538
Screenshot 2025-06-26 181538542×494 185 KB

We are using cube orange+ flight controller with here3 GPS. We tested it in altitude hold mode and confirmed that the vibrations were under control, and did some manual PID tuning. We have also done the harmonic notch filter set up.
While attempting AUTOTUNE, the drone did some twitching around the roll axis aggressively(first we were trying to do it in roll axis) and after some time auto tune failed with message (AUTOTUNE: Twitch Size Determination Failed).

We did some search online and found suggestions that our ‘AUTOTUNE_MIN_D’ was too low and ATC_RAT_RLL_P was too high. We implemented the suggestions but nothing changed and the autotune failed again.

Our test logs are attached here.

AUTO_ROLL
AUTO_ROLL1919×1032 57.7 KB

RATE_AUTOTUNE1
RATE_AUTOTUNE11919×1035 68.7 KB

https://drive.google.com/drive/folders/1kcIg_G0s6vOCplk8RKt_E8GW1bcXUnEP?usp=sharing

So, please help us in this regard so that we can have a happy and safe flying.

2

I doubt that for a craft that size. I would reset the Rate PID’s back to default, set the vertical acceleration gains correctly based on hover thrust and then assuming there is no output oscillation run Quicktune before trying AutoTune.

Or reset to default and use The Methodic Configurator.