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Fredrik Steen 2014-11-14 13:42:17 +01:00
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docs/Autotune.md
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@ -15,37 +15,25 @@ You may find a momentary switch more suitable than a toggle switch.
Turn off the autotune switch. If the autotune switch is on while not armed the warning LED will flash and you cannot arm.
Launch the multirotor.
1. Launch the multirotor.
Turn on/hold the autotune switch on your transmitter.
1. Turn on/hold the autotune switch on your transmitter. Observe roll left/right. A beep code will sound on the beeper.
Observe roll left/right. A beep code will sound on the beeper.
1. Turn off/release the switch while still flying to stop this phase of tuning. PID settings will have been updated for ROLL/YAW.
Turn off/release the switch while still flying to stop this phase of tuning.
1. Turn on/hold the switch again. Observe pitch forwards/backwards. A beep code will sound on the beeper.
PID settings will have been updated for ROLL/YAW.
1. Turn off/release the switch while still flying to stop this phase of tuning. PID settings will have been updated for PITCH/YAW.
Turn on/hold the switch again.
1. PIDS are updated, fly and see if it's better.
Observe pitch forwards/backwards. A beep code will sound on the beeper.
1. If it's worse, flip the switch again to restore previous pids that were present prior to arming.
Turn off/release the switch while still flying to stop this phase of tuning.
1. Land.
PID settings will have been updated for PITCH/YAW.
1. Verify results via an app while power still applied if desired. Cutting the power will loose the unsaved pids.
PIDS are updated, fly and see if it's better.
If it's worse, flip the switch again to restore previous pids that were present prior to arming.
Land.
Verify results via an app while power still applied if desired.
Cutting the power will loose the unsaved pids.
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.
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.
# References