Pitch and yaw values completely wrong after autotune

Hi all,
after a first attempt at autotune only the roll axis went well, I tried in one pitch and roll flight session. after 10 minutes of flight, the autotune procedure ended with these values. On the next flight with the new PIDs the quadcopter did not even take off.
how could this have happened?


Arducopter 4.0.3 3" quad

  1. did you went through the config process before autotune ? https://ardupilot.org/copter/docs/tuning-process-instructions.html
  2. Try reducing Autotune aggressiveness, AUTOTUNE_AGGR parameter (0.1=agressive, 0.075=medium, 0.050=weak)
  1. Yes and fly well, low vibration good althold, good notch setting. All before autotune

  2. My setting is AUTOTUNE_AGGR,0.05


Did you autotune with optical flow enabled?

Hi Andy,

Disabled. My setting:


I set the pitch values same as roll values and i tryed new autotune only for pitch.
This is the result … now fly well