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6. AutoTune
AutoTune attempts to automatically tune the Stabilize P, Rate P and D, and maximum rotational
accelerations to provide the highest response without significant overshoot. Copter needs to be
“basically” flyable in AltHold mode before attempting to use AutoTune as the feature needs to be
able to “twitch” the copter in the roll and pitch axis.
Position Hold during AutoTune is available in Copter 3.5 (and higher).
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
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