Initial values of the parameters before autotune

ArduCopter Traditional Helicopter
1

@bnsgeyer
Hello Bill,

a simple question about the initial values of the parameters for preparing for AUTOTUNE. If I have carried out a manual tuning and have found parameter values that work reasonably well, can I leave these values in the FC or do I have to go back to the basic values as specified in the WIKI?

I hope I have expressed myself clearly.

BR

Heri

2

No need to go back. Use the values from your manual tune as a starting point.

1 Like
3

This is not entirely true for Heli autotune. If you exceed optimum values of Rate P and Rate D gains with your manual tune then it doesn’t reduce the rate P and rate d gain. So I would recommend halving your rate P and D gains before starting autotune just to be sure it can still raise the gains to find the optimum value. The FF gain tuning starts from a calculation so it is not affected and the angle P gain tuning will increase and decrease to find the right value.

2 Likes
4

@bnsgeyer
Hi Bill,

thank you for your advice.

Should I do so for all axes (Roll, Pitch,Yaw)?

BR

Heri

5

Good question. You can halve the rate p and d gains for pitch and roll axes. How much did you change the yaw axis gains? That axis relies on rate p gain a lot more so it might be best to go back to the default gains for yaw.

6

Thank you.

I will do so.

BR

Heri