53 lines
1.7 KiB
Markdown
53 lines
1.7 KiB
Markdown
# Autotune
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Autotune helps to automatically tune your multirotor.
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## Configuration.
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Autotune only works in HORIZON or ANGLE mode, before using auto-tune it's best you setup so there is as little drift as possible.
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Autotuning is best on a full battery in good flying conditions, i.e. no or minimal wind.
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Configure a two position switch on your transmitter to activate the AUTOTUNE and HORIZON or ANGLE modes using the auxilary configuration.
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You may find a momentary switch more suitable than a toggle switch.
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## Using autotuning
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Turn off the autotune switch. If the autotune switch is on while not armed the warning LED will flash and you cannot arm.
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Launch the multirotor.
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Turn on/hold the autotune switch on your transmitter.
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Observe roll left/right. A beep code will sound on the beeper.
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Turn off/release the switch while still flying to stop this phase of tuning.
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PID settings will have been updated for ROLL/YAW.
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Turn on/hold the switch again.
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Observe pitch forwards/backwards. A beep code will sound on the beeper.
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Turn off/release the switch while still flying to stop this phase of tuning.
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PID settings will have been updated for PITCH/YAW.
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PIDS are updated, fly and see if it's better.
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If it's worse, flip the switch again to restore previous pids that were present prior to arming.
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Land.
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Verify results via an app while power still applied if desired.
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Cutting the power will loose the unsaved pids.
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If you're happy with the pids then while disarmed flip the autotune switch again to save all settings then flip it back so you can arm again.
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A beeper will sound indicating the settings are saved.
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# References
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* Brad Quick for the initial Autotune algorithm in BradWii. |