Edge AutoTune

Hello,

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.

https://1drv.ms/u/s!AlTaMbgj9DGH0FtvqV5UhPrXT7wD

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.

Marc

Hello,

A quick update: If you want to enter an ATC_ACCEL_ * _MAX different of default proposed par QGC, you can edit the param file, save it to computer and load it to Edge.

The value will still appear as Unknown but will be well used by Edge.

Marc

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