43 lines
1.8 KiB
Markdown
43 lines
1.8 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. Autotune does not support
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pid_controller 2 (pid_controller 0 is the Cleanflight default).
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Configure a two position switch on your transmitter to activate the AUTOTUNE and (HORIZON or ANGLE) modes using the auxiliary 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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1. Launch the multirotor.
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1. Turn on/hold the autotune switch on your transmitter. Observe roll left/right. A beep code will sound on the beeper.
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1. Turn off/release the switch while still flying to stop this phase of tuning. PID settings will have been updated for ROLL/YAW.
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1. Turn on/hold the switch again. Observe pitch forwards/backwards. A beep code will sound on the beeper.
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1. Turn off/release the switch while still flying to stop this phase of tuning. PID settings will have been updated for PITCH/YAW.
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1. PIDs are updated, fly and see if it's better.
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1. If it's worse, flip the switch again to restore previous PIDs that were present prior to arming.
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1. Land.
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1. Verify results via an app with power still applied if desired. Cutting the power will lose the unsaved PIDs.
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1. 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. 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.
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