In QGroundControl, open the menu: Vehicle setup > PID Tuning This will guide the plane to fly in circle at constant altitude and speed. VTOL in Fixed-wing mode: Once flying at cruise speed, activate Hold Mode.Hover the vehicle at a safe distance and at a few meters above ground (between 4 and 20m). Multicopters: Takeoff using the remote controller in Altitude mode.Takeoff using RC control and prepare for test:.
It takes about 40 seconds (between 19 and 68 seconds).įor best results, we recommend running the test in calm weather conditions.īe ready to abort the autotuning process by moving the RC controller sticks. The auto-tuning sequence must be performed in a safe flight zone, with enough space. If not, see the PX4 User Guide > Autotuning > Troubleshooting. If the drone can stabilize itself within 2 oscillations it is ready for the auto-tuning procedure. Repeat the same maneuvers but on the pitch axis.Īs above, start with small angles and confirm that the vehicle can itself within 2 oscillations before increasing the tilt.If the vehicle can stabilise itself within 2 oscillations at ~20 degrees move to the next step. Repeat the maneuver, tilting with larger amplitudes at each attempt.The vehicle should stabilise itself within 2 oscillations. Use the RC transmitter roll stick to perform the following maneuver, tilting the vehicle just a few degrees: roll left > roll right > center (The whole maneuver should take about 3 seconds).Fixed-wing mode: Take off and fly at cruise speed in Position mode or Altitude mode.Multicopters: Take off and hover at 1m above ground in Altitude mode or Stabilized mode.Perform a normal preflight safety checklist to ensure the flight zone is clear and has enough space.To make sure the vehicle is stable enough for auto-tuning: This test ensures that the vehicle can fly safely in position controlled modes. The vehicle must be able to fly and adequately stabilize itself before running auto-tune. This guide shows the default usage of this feature.Īdditional information and configuration can be found in the PX4 Autotuning Guide (PX4 User Guide). AutotuneĪuto-tuning automates the process of tuning the PX4 rate and attitude controllers, which are the most important controllers for stable and responsive flight (other tuning is more "optional"). This will usually be tuned well enough to fly, and it may also be sufficiently well tuned to run autotuning.
ITRACKING AUUTOTUNE MANUAL
The tuning UI also supports manual tuning of all controllers.ĭuring Airframe Setup you should have selected the frame that most closely matches your vehicle. Tuning only needs to be done once, and is recommended unless you're using vehicle that has already been tuned by the manufacturer (and not modified since).Īuto-tuning should generally be used for frame types and controllers that support it (multicopter, fixed wing, and hybrid VTOL fixed wing vehicles).
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