Repeat Autotune - consideration of state of battery charge

[jstroup1986 (Joseph G Stroup Jr)]

The Copter 4.3 auto-tune has generated some unexpected results for me. You might want to look at this too.

Very Peculiar and Erroneous Auto-Tune Behavior

I’ve been getting some very peculiar and erroneous behaviors with Auto-Tune on Copter 4.3. Some times one of PIDs axis are inconsistent. Some times a couple of parameters for an axis don’t get stored. (observed by comparing the MavLink message report or the Auto-Tune PIDs with what actually got stored in the parameters) Some times the twitching is a little bizarre - and autotune has to be aborted before all axis are complete. I don’t have detailed enough notes to totally reconstruct my tests…