Can an optical flow sensor with Loiter flight mode be used to perform a QuikTune indoors (a windless environment)?
Bad idea. QuikTune requires some amount of wind to work.
Autotune and System Identification flight modes perform best without ANY wind.
But quiktune does require some amount of turbulent wind. Without wind it might create and unstable tune.
This is one of those things documented in the ArduPilot methodic configurator tuning guide.
WARNING: Quicktune requires moderate wind disturbances to calibrate properly. Flying in completely calm conditions or perfectly steady wind can cause Quicktune to calculate overly aggressive PID values. These excessive settings may cause dangerous oscillations and potential crashes when your vehicle later encounters normal wind conditions.
“Wait for a calm day and go to an open area with good GPS reception”
Now we have 2 schools of thoughts or the documents need to further define calm day?
On the separate note, will the tune under wind condition unable to hold its level under windless condition?
The ArduPilot wiki needs to be updated and corrected. This is the Leonard Hall and mine school of thought.
calm day = small to moderate wind turbulence. NO indoor quiktune allowed! No wind is dangerous and your vehicle will crash if you do that. You have been warned.
Too much wind is also bad, remember that your vehicle has not been tunned yet.
That is the definition of tune. Once it IS tunned it will be able to hold its level regardless of wind conditions
Before knowing Leonard Hall and your school of thought, I have been doing QuikTune and Auto tune under calm, low wind conditions.
The result is satisfactory where the 13", 1.8kg drone was able to fight a wind speed of 6 m/s coming in any direction. The wind can blow and stop suddenly and swing in from any angle. Just to share our journey.
Be thankful lady luck has been on your side when doing quiktune.
When doing autotune, you already did it correctly.
Would this be an appropriate place for using QUIK_GAIN_MARGIN similar to what is being added for autotune? For instance, if quicktune is done in low wind, set this parameter a little higher?
No. If too little wind it will be unstable in a way that backing of a bit will still be unstable.
If the gains are off by 70%, backing off 25% will still be unstable.
Autotune is safer in this sense. That’s why it works there.
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