I had a try at autotune on my Y6-Edge. I was curious to see the result.
First: it is quite long. For the Roll/Tilt/Yaw to complete it took 15mn. The log is attached here. Despite having 15" prop, I did it with default parameters. I had another try with relaxed and filter at 10Hz, it took less time (8mn) but result is still quite twitchy and I am working on it.
Two: I have some remarks about the result and QGC interface. Some AutoTune ATC parameters are out of range or not valid according to QGC verbose.
Here are two screen copies relative to ATC-ACCEL parameters. Raw result was 57799/54125/10681 for P/R/Y MAX.
QGC optional “slow” value is 72000/72000/18000.
And first AutoTune results parameters:
ATC_RAT_RLL_P 0.6344250440597534 ATC_RAT_RLL_I 0.6344250440597534 ATC_RAT_RLL_D 0.0351894348859787 ATC_RAT_RLL_IMAX 0.5 ATC_RAT_RLL_FILT 20 ATC_ANG_RLL_P 13.163673400878906 ATC_ACCEL_R_MAX 54125.41796875 ATC_RAT_PIT_P 1.0205585956573486 ATC_RAT_PIT_I 1.0205585956573486 ATC_RAT_PIT_D 0.062340229749679565 ATC_RAT_PIT_IMAX 0.5 ATC_RAT_PIT_FILT 20 ATC_ANG_PIT_P 10.802711486816406 ATC_ACCEL_P_MAX 57799.51953125 ATC_RAT_YAW_P 0.60741126537323 ATC_RAT_YAW_I 0.060741126537323 ATC_RAT_YAW_D 0 ATC_RAT_YAW_IMAX 0.5 ATC_RAT_YAW_FILT 1.4599450826644897 ATC_ANG_YAW_P 5.730243682861328 ATC_ACCEL_Y_MAX 10681.0419921875
Autotune was performed in PosHold mode.