How to Fly While In Auto-tune

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When you are all setup you can begin flying in AUTOTUNE mode. While it is conceivable to takeoff in AUTOTUNE mode, we right now propose takeoff in an alternate mode, for example, FBWA or MANUAL then switch to AUTOTUNE once the plane has picked up tallness and velocity.

When you captivate AUTOTUNE mode a couple of things will happen:

1. The autotune framework will quickly setup some default values for your move and pitch I and D increases, and your move and pitch most extreme rates

2. The autotune framework will screen your requested move and pitch rates (as controlled by your transmitter stick developments). At the point when the requested move or pitch rate surpasses 80% of the greatest rate the autotune framework will utilize the reaction of the flying machine to learn moveor pitch tuning qualities.

So in the move heading you ought to first charge a hard right turn with the aileron stick, then without further ado a short time later push the aileron stay hard the other approach to order a hard left turn. Note that you don't have to sit tight for the plane to bank over the distance after each one-stick development. After something like 2 seconds of stick development in one bearing you can invert the stick rapidly.

The plane will steer hard right, then hard left as you move the aileron stick. With each sudden reversal it will improve the tuning values by about 5%. So you need at least 20 full stick movements to learn a reasonable tuning value.

PITCH TUNING

For pitch tuning you need to use the pitch transmitter stick to take the aircraft on a roller-coaster ride. Pull back hard on the stick to pitch up, then shortly afterwards, push down to pitch down. Continue doing this for at least 20 iterations.

If your initial tuning values were too low then you should notice the aircraft becomes progressively more responsive as you fly in AUTOTUNE mode.

If the aircraft ever becomes unstable enough that you think it is dangerous to keep flying then you should change out of AUTOTUNE mode. That will restore the parameters you had from 10 seconds ago.

Don’t stop too early

It is proposed that you do no less than 20 quick move developments and no less than 20 fast pitch developments, ideally significantly more. Some individuals stop excessively early wind up with poor values that bring about their air ship not adapting great to wind, or not holding elevation well.

Completing the tune

Once you have learned reasonable roll and pitch tuning parameters with autotune you should complete the tune by manually tuning some other key parameters.

The parameters that are needed for most airframes are:

NAVL1_PERIOD: This defaults to 25, which is a very conservative value designed to cope with badly tuned airframes. It controls how sharply the aircraft will turn in automatic modes (such as AUTO, RTL and LOITER). Most aircraft should use a significantly lower value. Once you have completed a successful autotune of roll and pitch values you should drop NAVL1_PERIOD to 18 if you have not tuned it yet. To tune beyond that level you should fly a rectangular mission in AUTO mode and adjust NAVL1_PERIOD down by 1 at a time until the aircraft turns at a rate you are happy with, and does not “wag its tail” in flight.

PTCH2SRV_RLL: This parameter controls how much elevator to add in turns to keep the nose level. Many aircraft require a small change to this parameter from the default of 1.0. To see if you need to tune this value you should hold a tight circle in FBWA mode by holding the aileron stick hard over while not giving any elevator input. If the plane gains altitude then you should lower PTCH2SRV_RLL by a small amount (try lowering to 0.95 initially). If the plane loses altitude while circling then try raising PTCH2SRV_RLL by a small amount (try 1.05 initially). If you need to go above 1.3 or below 0.8 then there is probably a problem with your setup (such as incorrect center of gravity, poor thrust line, poor airspeed calibration, too soft a tune on the pitch loop, or bad compass errors). You should try and fix the setup.

There are numerous different parameters which can enhance the execution of your airplane, however these are the ones that most individuals need. If it’s not too much trouble read the ordinary manual tuning documentation for more data.

AUTOTUNE Logging

The advancement of the autotune is recorded in the dataflash log. In the event that you are attempting to debug autotune or are posting about autotuneon the gatherings then please incorporate the dataflash log.

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