Radiolink Electronic Ltd
www.radiolink.com
Setup before flying
1. Set up one flight mode switch position to be AltHold.
2. Set an Auxiliary Function Switch to Autotune to allow you to turn the auto tuning on/off with the a switch.
3. Remove the camera gimbal or any other parts of the frame that could wobble in flight
4. Select which combination of axis (roll, pitch, yaw) you wish to tune using the AUTOTUNE_AXES parameter
5. Set the autotune’s aggressiveness using the AUTOTUNE_AGGR parameter (0.1=agressive,
0.075=medium, 0.050=weak), normally start with the default 0.1.
6. For large copters (with props at least 13inch or 33cm diameter) set the Rate Roll and Pitch filters to 10hz (in
Copter-3.3 these are RATE_RLL_FILT_HZ and RATE_PIT_FILT_HZ, in Copter-3.4 they are
ATC_RAT_RLL_FILT, ATC_RAT_PIT_FILT)
7. It is recommended to enable battery voltage scaling of PID gains
How to invoke AutoTune
1. Wait for a calm day and go to a large open area.
2. Ensure the ch7 or ch8 switch is in the LOW position.
3. Take off and put the copter into AltHold mode at a comfortable altitude.
4. Face the vehicle so that it will twitch at 90degrees from the direction the wind is blowing (i.e. if tuning Roll
first, point the vehicle into the wind)
5. Set the ch7/ch8 switch to the HIGH position to engage auto tuning:
(1) You will see it twitch about 20 degrees left and right for a few minutes, then it will repeat forward and back.
(2) Use the roll and pitch stick at any time to reposition the copter if it drifts away (it will use the original PID
gains during repositioning and between tests). When you release the sticks, it will continue auto tuning where
it left off.
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