@tridge current Autotune give bad results if plane tuned in calm day.
Here graph from atomrc dolphin:
params show previous values, tuned in calm day. And log show params tuned in windy conditions (about 30-40km\h wind). Autotune perfomed about 50% throttle.
As we can see D lowered about twice.
and here oscillation at start
also i think D bad for planes…
here video takeoff in windy day after autotuning in calm day
