I accidently did not save the PID values after autotune

ArduCopter Copter 4.0
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1

Hi guys, I accidently disarmed my quadcopter when the autotune switch is in LOW position, so the values were erased.
I made the tune only for pitch and roll.
can I extract the values from the tlog messeges ?

AutoTune: (P) Angle P Down
AutoTune: WFL (Rate(Y)) (20.10105 > 15.00000)
AutoTune: p=4.128891 accel=110000.0
AutoTune: Twitch
AutoTune: (P) Angle P Down
AutoTune: WFL (Rate(P)) (46.22238 > 10.00000)
AutoTune: p=4.128891 accel=110000.0
AUTOTUNE: pilot overrides active
AutoTune: (P) Angle P Down
AutoTune: WFL (Rate(R)) (10.98465 > 10.00000)
AutoTune: p=4.128891 accel=110000.0
AutoTune: (P) Angle P Down
AutoTune: WFL (Angle(Y)) (7.490000 > 5.000000)
AutoTune: p=4.128891 accel=110000.0
AutoTune: Twitch
AutoTune: (P) Angle P Down
AutoTune: WFL (Angle(Y)) (9.300000 > 5.000000)
AutoTune: p=3.922447 accel=110000.0
AutoTune: Twitch
AUTOTUNE: pilot overrides active
AUTOTUNE: pilot overrides active
AUTOTUNE: pilot overrides active
AUTOTUNE: pilot overrides active
AUTOTUNE: pilot overrides active
AUTOTUNE: pilot overrides active
AUTOTUNE: pilot overrides active
AUTOTUNE: pilot overrides active
AUTOTUNE: pilot overrides active
AutoTune: (P) Angle P Down
AutoTune: WFL (Angle(P)) (9.800000 > 5.000000)
AutoTune: p=3.726325 accel=110000.0
AUTOTUNE: pilot overrides active
AUTOTUNE: pilot overrides active
AUTOTUNE: pilot overrides active
AutoTune: (P) Angle P Down
AutoTune: WFL (Rate(P)) (19.75571 > 10.00000)
AutoTune: p=3.726325 accel=110000.0
AUTOTUNE: pilot overrides active
AUTOTUNE: pilot overrides active
AutoTune: Twitch
AutoTune: (P) Angle P Down
AutoTune: WFL (Angle(P)) (5.020000 > 5.000000)
AutoTune: p=3.726325 accel=110000.0
AutoTune: Twitch
AutoTune: (P) Angle P Down
AutoTune: TWITCHING
AutoTune: lean=42.00000 target=2000.000
AutoTune: rotation=14.20109 target=180.0000
AutoTune: p=3.726325 accel=110000.0
AutoTune: (P) Angle P Down
AutoTune: WFL (Angle(P)) (9.910000 > 5.000000)
AutoTune: p=3.726325 accel=110000.0
AutoTune: (P) Angle P Down
AutoTune: WFL (Rate(P)) (20.04898 > 20.00000)
AutoTune: p=3.726325 accel=110000.0
AutoTune: Twitch
AutoTune: (P) Angle P Down
AutoTune: WFL (Angle(P)) (12.52000 > 5.000000)
AutoTune: p=3.726325 accel=110000.0
AutoTune: Twitch
AutoTune: (P) Angle P Down
AutoTune: WFL (Angle(P)) (7.910000 > 5.000000)
AutoTune: p=3.726325 accel=110000.0
AutoTune: Twitch
AutoTune: (P) Angle P Down
AutoTune: TWITCHING
AutoTune: lean=1236.000 target=2000.000
AutoTune: rotation=34.13665 target=180.0000
AutoTune: p=3.726325 accel=110000.0
AutoTune: (P) Angle P Down
AutoTune: WFL (Rate(P)) (12.15781 > 10.00000)
AutoTune: p=3.540008 accel=110000.0
AutoTune: (P) Angle P Down
AutoTune: WFL (Rate(R)) (18.44401 > 10.00000)
AutoTune: p=3.363008 accel=110000.0
AutoTune: (P) Angle P Down
AutoTune: WFL (Rate(P)) (32.48902 > 20.00000)
AutoTune: p=3.363008 accel=110000.0
AutoTune: Twitch
AutoTune: (P) Angle P Down
AutoTune: TWITCHING
AutoTune: lean=1586.000 target=2000.000
AutoTune: rotation=-1.075425 target=180.0000
AutoTune: p=3.363008 accel=110000.0
AutoTune: (P) Angle P Down
AutoTune: WFL (Rate(P)) (12.23032 > 10.00000)
AutoTune: p=3.363008 accel=110000.0
AutoTune: (P) Angle P Down
AutoTune: WFL (Angle(P)) (10.48000 > 5.000000)
AutoTune: p=3.194857 accel=110000.0
AutoTune: (P) Angle P Down
AutoTune: WFL (Rate(P)) (20.34834 > 20.00000)
AutoTune: p=3.194857 accel=110000.0
AutoTune: Twitch
AutoTune: Twitch
AutoTune: (P) Angle P Down
AutoTune: WFL (Angle(P)) (5.230000 > 5.000000)
AutoTune: p=3.194857 accel=110000.0
AutoTune: Twitch
AutoTune: (P) Angle P Down
AutoTune: TWITCHING
AutoTune: lean=1204.000 target=2000.000
AutoTune: rotation=24.19821 target=180.0000
AutoTune: p=3.194857 accel=110000.0
AutoTune: (P) Angle P Down
AutoTune: WFL (Rate(P)) (10.51192 > 10.00000)
AutoTune: p=3.194857 accel=110000.0
AutoTune: Twitch
AutoTune: (P) Angle P Down
AutoTune: WFL (Rate(P)) (22.23656 > 20.00000)
AutoTune: p=3.194857 accel=110000.0
AutoTune: Twitch
AutoTune: (P) Angle P Up
AutoTune: WFL (Angle(P)) (13.75000 > 5.000000)
AutoTune: p=3.194857 accel=110000.0
AutoTune: (P) Angle P Up
AutoTune: TWITCHING
AutoTune: lean=1072.000 target=2000.000
AutoTune: rotation=51.59441 target=180.0000
AutoTune: p=3.194857 accel=110000.0
AUTOTUNE: pilot overrides active
AutoTune: (P) Angle P Up
AutoTune: WFL (Rate(R)) (11.90246 > 10.00000)
AutoTune: p=3.354600 accel=110000.0
AutoTune: (P) Angle P Up
AutoTune: WFL (Angle(P)) (15.96000 > 5.000000)
AutoTune: p=3.522330 accel=110000.0
AutoTune: (P) Angle P Up
AutoTune: Twitch
AutoTune: (P) Angle P Up
AutoTune: WFL (Rate(P)) (10.93819 > 10.00000)
AutoTune: p=3.522330 accel=110000.0
AutoTune: (P) Angle P Up
AutoTune: WFL (Angle(P)) (8.380000 > 5.000000)
AutoTune: p=3.522330 accel=110000.0
AutoTune: (P) Angle P Up
AutoTune: WFL (Rate(P)) (23.16924 > 20.00000)
AutoTune: p=3.522330 accel=110000.0
AutoTune: Twitch
AutoTune: p=3.698447 accel=110000.0
AutoTune: Twitch
AutoTune: (P) Angle P Up
AutoTune: WFL (Angle(P)) (8.639999 > 5.000000)
AutoTune: p=3.883369 accel=110000.0
AutoTune: Twitch
AutoTune: (P) Angle P Up
AutoTune: TWITCHING
AutoTune: lean=1943.000 target=2000.000
AutoTune: rotation=25.69926 target=180.0000
AutoTune: p=3.883369 accel=110000.0
AutoTune: (P) Angle P Up
AutoTune: WFL (Rate(R)) (12.84576 > 10.00000)
AutoTune: p=3.883369 accel=110000.0
AutoTune: Twitch
AutoTune: (P) Angle P Up
AutoTune: WFL (Angle(P)) (11.86000 > 5.000000)
AutoTune: p=3.883369 accel=110000.0
AutoTune: Twitch
AutoTune: (P) Angle P Up
AutoTune: TWITCHING
AutoTune: lean=406.0000 target=2000.000
AutoTune: rotation=63.26648 target=180.0000
AutoTune: p=3.883369 accel=110000.0
AutoTune: (P) Angle P Up
AutoTune: WFL (Rate(R)) (10.23371 > 10.00000)
AutoTune: p=4.077538 accel=110000.0
AutoTune: Twitch
AutoTune: (P) Angle P Up
AutoTune: WFL (Rate(R)) (10.82463 > 10.00000)
AutoTune: p=4.077538 accel=110000.0
AutoTune: (P) Angle P Up
AutoTune: WFL (Rate(R)) (16.81124 > 10.00000)
AutoTune: p=4.077538 accel=110000.0
AutoTune: Twitch
AutoTune: (P) Angle P Up
AutoTune: WFL (Angle(P)) (11.13000 > 5.000000)
AutoTune: p=4.077538 accel=110000.0
AutoTune: (P) Angle P Up
AutoTune: TWITCHING
AutoTune: lean=1713.000 target=2000.000
AutoTune: rotation=-0.629386 target=180.0000
AutoTune: p=4.077538 accel=110000.0
AutoTune: p=4.281415 accel=110000.0
AutoTune: Twitch
AutoTune: WFL (Angle(P)) (5.140000 > 5.000000)
AutoTune: p=4.956273 accel=110000.0
AutoTune: Twitch
AutoTune: (P) Angle P Up
AutoTune: WFL (Rate(P)) (15.35806 > 10.00000)
AutoTune: p=4.956273 accel=110000.0
AutoTune: Twitch
AutoTune: Twitch
AutoTune: (P) Angle P Up
AutoTune: TWITCHING
AutoTune: lean=1380.000 target=2000.000
AutoTune: rotation=93.31289 target=180.0000
AutoTune: p=4.956273 accel=110000.0
AutoTune: (P) Angle P Up
AutoTune: WFL (Rate(R)) (12.12064 > 10.00000)
AutoTune: p=4.956273 accel=110000.0
AutoTune: Twitch
AutoTune: Success
AUTOTUNE: pilot overrides active
AutoTune: Stopped

2

In the stable ArduCopter 4.2.0 the gains are explicitly written out, in 4.0 they look as cryptic as described above.

3

Not really. Just run it again. And to save yourself trouble when Auto Tune completes land and disarm w/o flipping any switches.

4

But of course please do that after updating to ArduCopter 4.2.0

5

thank you all @dkemxr . will do

@amilcarlucas , will update also

6

maybe is related to the topic.

Can autotune be so-called paused and resume?

In my scenario, tune one axis, halfway tuning the voltage low failsafe trigger, UA auto land, and auto disarm or pilot disarm. will the halfway tune values save?

then we power it OFF and change to a new set of batteries, power it ON, and engage autotune again, will it resume?

Does anyone have such experience to share?

7

If you don’t have enough battery to do multiple axis then set AUTOTUNE_AXIS to do one at a time. Then it will save all the data as normal.

https://ardupilot.org/copter/docs/parameters.html#autotune-axes-ac-autotune-multi-autotune-axis-bitmask

8

I knew about the multiple axes, what I mean is I set up one axis, and the battery is already not enough to complete one axis, what will be the scenario?

9

Values for each axis aren’t saved until the axis is completed.

1 Like
10

For big drones where energy and space are a big concern for autotune, if a pause and resume feature are available will be good. For example, when low voltage failsafe trigger, auto-save the current PIDs value before land, users then can change to a new set of batteries and resume.

Not sure if it is possible, any risk. Welcome developer comments.

for a big drone (1.6m to 2.5m wheelbase), besides the manual tune, what other option is available for a good tune?

11

As long as you can keep the flight controller powered you can resume - so for instance if you have dual batteries replace one at a time

1 Like
12

Or a USB battery bank.

If the component selection is good and you can do a few more improvements to the tune before Autotune, then Autotune can be quicker.

2 Likes
13

So, I assume the voltage low failsafe trigger still functions normally from Power port 1/2 when I also power the cube from the Micro-USB port.

14

Micro USB port will not affect voltage sensing which is all done externally

1 Like
15

Okay, after new battery change, do I toggle the autotune switch or I just leave the switch as is it and arm and takeoff?

I remember if I set the autotune function to one of the channel 5 (flight mode selection) switch position, the FCU + buzzer will complaint if I selected it before arming.

So, is it because FCU power always maintain, this behavior will not happen?

16

Not sure, I would have to ask Leonard