Got it… I was able to pull the logs, and it matched the ATUN results.
The ATUN values corresponded to the following changes in the parameters after QAUTOTUNE (for ROLL):
RP → Q_A_RAT_RLL_P and Q_A_RAT_RLL_I
RD → Q_A_RAT_RLL_D
SP → Q_A_ANG_RLL_P
DDT → Q_A_ACCEL_R_MAX
I am running Arduplane 4.2.1 on a Pixhawk 1 (fmuv2) in a Mini Talon VTOL (4+1). I have done the initial setup and flight tuning and was planing to go ahead with Q_AUTOTUNE. Mode 22 Autotune is selected as one of the available modes, but I can not find any of the Q_AUTOTUNE parameters in the full parameters list in MP? I would like to set the Autotune axis. Am I missing something or is this part of the code removed for this target?
yes, I’ve used it on my Swan-K1. It does roll and pitch fine.
For yaw you’ll need to raise QUIK_YAW_P_MAX and QUIK_YAW_D_MAX a lot, as copter tailsitters need very strong yaw to give them roll control in fwd flight.
Has there been any software improvements (or suggestions on use of hardware) to the tailstitter landing where motors stay on? I recently had another situation with the props touching the ground after landing and causing damage (miss-timed turning them off).
I’ve tried the QUATOTUNE on my Phantom FX61 VTOL and even if I’ve entered this mode directly from QLOITER, it was not holding the position. It holds in QLOITER but flies forwards in QAUTOTUNE. Why could it be so? I have the motors tilted forwards, as advised in the docs. I’m not posting the logs as I had to improve some issues with the build, for example for the first time I’ve seen how a carbon tube was still stiff against bending but completely soft when twisting. OK cross weave needed, replacing…
But I have some questions about VTOL-quicktune. I’ve never run the lua scripts, a good idea to try. However:
-what’s the difference between the quicktune and QAUTOTUNE approach and why should the former be safer? Does it perform “twitching”?
-if it is better, why can’t it be included into the QAUTOTUNE algorithm? It’s much easier to run the functionality already present in the Ardupilot code, less security risk… What are the advantages of the lua script approach? Faster updates? Easier access for independent/test solutions?