Is Autotuning without payload then changing ATC_ACCEL_X_MAX using the below formular for a new payload as good as Autotuning with the new payload?
New ATC_ACCEL_P_MAX = ATC_ACCEL_P_MAX x (min_TOW / max_TOW)
New ATC_ACCEL_R_MAX = ATC_ACCEL_R_MAX x (min_TOW / max_TOW)
New ATC_ACCEL_Y_MAX = ATC_ACCEL_Y_MAX x (min_TOW / max_TOW)
ATC_ACCEL_X_MAX seems to relate to prop size so wouldn’t Autotuning the same machine at different weights result in different tuning parameters e.g., PIDs etc?
I believe changing those accel params is the correct way.
Since you are not changing motors/props/ESCs/frame, then the PIDs remain the same.
Just the accels need to change so you are not over-stressing the payload, it’s mounting system or the frame.
The accel params can also be guessed and rounded down to suit. If your aircraft is still moving around too fast for your camera and gimbal, just lower the accels some more. They can be rounded to nearest 1000 usually.
You only need to keep a record of the original accels in this case.
Also check ATC_INPUT_TC → bigger value = smoother response to pilot input.
You can have the “RC Feel” as it used to be known, on a tuning knob to easily suit different payloads or jobs
TUNE,45
TUNE_MAX,0.15
TUNE_MIN,0.3
You could also set up a dummy payload and retune, but then there’s a lot of params that need retuning if you ever change the payload.
Thanks Shawn. Just to clarify this all the tuning parameters relate the the UAV’s frame i.e., motors, esc’s, props etc and not weight. So autotuning with different weights would give you the same basic tuning parameters? PID’s etc?
Then if you change the weight then just charge the ATC_ACCEL_x_MAX and maybe ATC_INPUT_TC settings?
To be on the safe side it is better to tune without payload, and add payload afterwords.
Removing weight might make the vehicle unstable. Please notice the “might” word!