As per above, I loaded the param file using mavproxy.py using
param load Griffin.parm
When you say “setup the config using the param file” - I’m assuming that you mean this?
mavproxy doesn’t have a “refresh” for params, so I just loaded the file again.
param load Griffin.parm
So now I have this,
a big improvement, but not stable enough for autotune tor run, I’m getting this:
AP: AutoTune: Yaw Rate D Up 0%
AP: AutoTune: failing to level, please tune manually
AP: AutoTune: Yaw Rate D Up 0%
AP: AutoTune: Yaw Rate D Up 0%
AP: AutoTune: failing to level, please tune manually
AP: AutoTune: Yaw Rate D Up 0%
AP: EKF2 IMU0 switching to compass 1
AP: EKF2 IMU1 switching to compass 1
AP: AutoTune: Yaw Rate D Up 0%
AP: AutoTune: failing to level, please tune manually
AP: AutoTune: Yaw Rate D Up 0%
AP: AutoTune: failing to level, please tune manually
So I decided the PIDs were wrong (not that I really understand them), so I started manually changing them just to see what would happen. Guess what - massive improvement. Basically the Q “P” values for Roll and Pitch were way too high. I manually set them as follows:
param set Q_A_RAT_PIT_P 0.1
param set Q_A_RAT_RLL_P 0.1
And suddenly the plane was stable enough that autotune would run. It now looks like this:
So I successfully completed autotune of all three axes and got the following new gains:
Q_A_RAT_PIT_D 0.0017924299463629723
Q_A_RAT_PIT_I 0.11233694851398468
Q_A_RAT_PIT_P 0.11233694851398468
Q_A_RAT_RLL_D 0.0010000000474974513
Q_A_RAT_RLL_I 0.10434277355670929
Q_A_RAT_RLL_P 0.10434277355670929
Q_A_RAT_YAW_I 0.10013037919998169
Q_A_RAT_YAW_P 1.001303791999817
Q_A_RAT_YAW_D 0.0
which are quite different to the ones that I loaded from Griffin.parm from GitHub - specifically
Q_A_RAT_PIT_D 0.005000
Q_A_RAT_PIT_I 0.100000
Q_A_RAT_PIT_P 0.150000
Q_A_RAT_RLL_D 0.003000
Q_A_RAT_RLL_I 0.250000
Q_A_RAT_RLL_P 0.200000
Q_A_RAT_YAW_D 0.020000
Q_A_RAT_YAW_I 0.100000
Q_A_RAT_YAW_P 2.000000
I then loaded VTOL-quicktune.lua and ran successfully, which generated the following:
Q_A_RAT_PIT_D 0.002890312112867832
Q_A_RAT_PIT_I 0.09230741858482361
Q_A_RAT_PIT_P 0.09230741858482361
Q_A_RAT_RLL_D 0.0022393492981791496
Q_A_RAT_RLL_I 0.08301571011543274
Q_A_RAT_RLL_P 0.08301571011543274
Q_A_RAT_YAW_D 0.010000008158385754
Q_A_RAT_YAW_I 0.10279499739408493
Q_A_RAT_YAW_P 0.4999999403953552