The acceleration used to establish these speeds is set by PILOT_ACCEL_Z. To 2.5m/s (this speed is adjustable with the PILOT_SPEED_UP and PILOT_SPEED_DN Vehicle will attempt to hold its current altitude when the sticksĪre placed with 10% of mid-throttle. The altitude is maintained with the altitude hold controller so the The target position will be reset to the vehicle’s location at the moment the pilot releases the roll and pitch sticks. The pilot can reposition the vehicle using the roll, pitch, yaw or throttle sticks. The vehicle will gently lean (up to 10 degrees) towards a “target point” which is initially set to the vehicle’s location at the moment AutoTune was invoked. If the vehicle feels sloppy after the AutoTune, try increasing the AUTOTUNE_AGGR parameter as high as 0.10 and attempt the autotune again. This smooths out the pilot’s input.Īlternatively try reducing the AUTOTUNE_AGGR parameter (it should always be in the range 0.05 to 0.10) and try again. If you find after performing an AutoTune that the vehicle feels overly twitchy when flying Stabilize, AltHold or PosHold (but ok in moreĪutonomous modes like Loiter, RTL, Auto) try increasing the ATC_INPUT_TC parameter to 0.25. The gains will not be saved when you disarm. If you DO NOT like the new PIDS, switch ch7/ch8 LOW or out of AUTOTUNE flight mode, to return to the Switch in the HIGH position, or switch back into AUTOTUNE flight mode and land and disarm to save the PIDs If you are happy with the autotuned PID gains, leave the ch7/ch8 Put the ch7/ch8 switch into the LOW position, or switch out of AUTOTUNE flight mode, to fly using the Position to test the tuned PID gains, or if using the AUTOTUNE flight mode, switch out and then back into that mode. Put the ch7/ch8 switch into the LOW position then back to the HIGH
When the tune completes the copter will change back to the original The autotune may not get the signal that the sticks are centered. Make sure that you do not have any trim set on your transmitter or Move the ch7/ch8 switch into the LOW position, or change flight mode if using AUTOTUNE flight mode, at any time toĪbandon the autotuning and return to the origin PIDs. Will continue auto tuning where it left off. If it drifts away (it will use the original PID gains during Use the roll and pitch stick at any time to reposition the copter
Minutes, then it will repeat forward and back. You will see it twitch about 20 degrees left and right for a few Set the ch7/ch8 switch to the HIGH position, or switch to AUTOTUNE mode, to engage auto tuning: if tuning Roll first, point the vehicle into the wind) Take off and put the copter into AltHold mode at a comfortableįace the vehicle so that it will twitch at 90degrees from the direction the wind is blowing (i.e. Wait for a calm day and go to a large open area.Įnsure the ch7 or ch8 switch, if used, is in the LOW position.
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