Mission Planner Auto Tuning

17.04.2020
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This section of Mission Planner, invoked by the Menu item Config/Tuningat the top of Mission Planner, has several subsections. The subsectionare where you configure the parameters that control how your auto pilotcontrols your vehicle. Tuning refers to adjusting parameters in thecontrol loops so your vehicle behaves the way you desire. Most of theseparameters are set for you when you first install your firmware but somemust be set before your first flight or roaming adventure.

I had control issues w/ the previous auto-tune results, and had manually tuned them up to about.09 P&I,.0015 for D. Now autotune gives me great results. (This is comparing 3.6 auto-tune to 4.0 w/ the harmonic notch And I believe I had my D term filters at about 40 for the last tune. APM 2.5 w/3.1.5 won't start Auto-Tuning, Mission Planner shows enabled but quadcopter won't twitch. Title says it all. This is my first major 'unconquerable' task. ここでもMission Plannnerの使い方を知らなくてはまった。 左下の枠の「Action」で指示を与えることができる。シミュレーションが始まるまでの手順は以下 ・「Action」タブに移動 ・モードを「Stabilize」にする。.

  • There are 2 methods to tuning the pids, we have found that the use of telemetry and mission planner, having a designated flyer and PID value changer is the most efficient method. Open mission planner and connect to the flight controller, this can be done in 2 ways, connecting via USB or telemetry.
  • Mission Planner is a ground control station for ArduPilot. It provide setup and flying support, as well as reviewing recorder flights. It Provides Point-and-click waypoint entry, using Google Maps/Bing/Open street maps/Custom WMS. Select mission commands from drop-down menus Download mission log files.
  • Connect in Mission Planner and go to CONFIG/TUNING Full Parameter Tree. Select Load From File and open UAVMapper.param. Select Write Params to copy the parameters to your Pixhawk.

What you see when you enter this section depends on whether or not youare connected. Each menu item will bring up a new screen, each isdiscussed below with links to more detail.

Planner

Apm Mission Planner Auto Tune

You will see this menu item if the auto pilot IS or Is Not connected.This is where you set up most of the options for how the Mission Plannerworks. Such things and enabling speach, where the logs are saved, theunits of measure you want to use, ETC. Some of the specifics arecovered here. (TBD Add details or links to other pages with details.What is each of the entries for, what does it effect, TBD

Basic Pids

You will see this menu item if the auto pilot Is connected. Here iswhat you can do in this section TBD

Flight Modes

You will see this menu item if the auto pilot Is connected. Here iswhat you can do in this section TBD

Introduction, how to set up 6 channel - add a link etc.

Standard Params

You will see this menu item if the auto pilot Is connected. Here iswhat you can do in this section TBD

GeoFence

You will see this menu item if the auto pilot Is connected. Here iswhat you can do in this section TBD

FailSafe

You will see this menu item if the auto pilot Is connected. Here iswhat you can do in this section TBD

Advanced Params

You will see this menu item if the auto pilot Is connected. Here iswhat you can do in this section TBD

Mission planner auto tuning 2017

Full Parameter List

You will see this menu item if the auto pilot Is connected.

Here is what you can do in this section TBD

Options on the right hand side of this screen: You can save theparameters for your vehicle. It is a good idea to do that often. Also,you can reload all your parameters from a saved file. You can alsocompare the parameters in your vehicle to those in a saved file. This isa very valuable feature in case you forget what you changed or if yourvehicle behaves badly after a change but you don't remember the previousvalue(s) of the parameters you changed - or even what you changed. Animportant aspect of the compare feature: After you select the file withthe save parameters you want to compare, you will get a window thatlists every parameter that is different. At the time of the window,nothing has been changed, but if you check some items and then clickContinue, those items will be changed in the local memory of MissionPlanner. You will then need to click the Write Params parameters buttonin the right hand panel to copy the changes to the memory in your autopilot.

Until we get more words here, just experiment.

Clean this up with the right menu words, Load, Save Refres Parms etc.

Copter Pids

You will see this menu item if the auto pilot Is connected to anAruCopter. Here is what you can do in this section TBD

Download Antares Auto-Tune Live VST for free. Antares Auto-Tune Live VST - Auto-Tune Live is a program that features genuine Antares Auto-Tune technology optimized for real-time pitch correction or creatively modifying the intonation of a performance. Antares auto tune real time free download.

This article provides an overview of how to tune various Copter parameters.

Overview

The default PID gains are meant forthe 3DR IRIS although they work on a wide variety of frames. Still, to get optimalperformance you may need to adjust them which can be done through theMission Planner's Config/Tuning Copter Pids screen. The screenshot below shows the most important parameters for Roll/Pitch (yellow),Yaw (orange), :ref:`Altitude hold <altholdmode>` (green),:ref:`Loiter <loiter-mode>` (pink) and:ref:`Waypoint navigation <auto-mode>`(blue).

The most important parameter to get right is the Rate Roll P (and bydefault Rate Pitch P is locked to the same value) as discussed:ref:`here <ac_rollpitchtuning>`.

Normally it's best to start by tuning the Rate Roll/Pitch P in Stabilizemode then move onto tuning altitude hold in AltHold mode, then Loiter(which often needs no tuning) and finally the waypoint navigationperformance in Auto mode.

Note

Dave C's AC2.8.1 tuning guidehas good information for tuning for rate roll and pitch but altitude hold,Loiter and navigation has changed dramatically since AC2.8.1 so thosesections are no longer valid.

Roll/Pitch tuning

The Stabilize Roll/Pitch and Rate Roll/Pitch parameters, highlighted inyellow in the screen shot above control the roll pitch response.

The Rate parameters which convert the desired rotation rate into a motoroutput are the most important. The :ref:`Rate Roll and Pitch P tuning page <ac_rollpitchtuning>` has themost information on tuning them.

The Stabilize Roll/Pitch P converts the desired angle into a desiredrotation rate which is then fed to the Rate controller.

  • A higher value will make the copter more responsive to roll/pitchinputs, a lower value will make it smoother
  • If set too high, the copter will oscillate on the roll and/or pitchaxis
  • If set too low the copter will become sluggish to inputs

More information on tuning the roll and pitch can be found on the:ref:`Stabilize mode page's Tuning section <stabilize-mode_tuning>`.

An objective view of the overall Roll and Pitch performance can be seenby graphing the :ref:`dataflash log's <common-downloading-and-analyzing-data-logs-in-mission-planner>`ATT message's Roll-In vs Roll and Pitch-In vs Pitch. The 'Roll' (i.e.actual roll) should closely follow the 'Roll-In' while in Stabilize orAltHold modes. Pitch should similarly closely follow Pitch-In.

Alternatively you may wish to try tuning both the rate and stabilize(i.e. angular) parameters using the :ref:`AutoTune feature <autotune>`.

Yaw tuning

The Stabilize Yaw and Rate Yaw parameters, highlighted in orange in thescreen shot above control the yaw response. It's rare that the yawrequires much tuning.

Similar to roll and pitch if either Stabilize Yaw P or Rate Yaw P is toohigh the copter's heading will oscillate. If they are too low the coptermay be unable to maintain it's heading.

As mentioned on the :ref:`Stabilize mode's tuning section <stabilize-mode_tuning>`,the ACRO_YAW_P parameter controls how quickly copter rotates based ona pilot’s yaw input. The default of 4.5 commands a 200 deg/sec rate ofrotation when the yaw stick is held fully left or right. Higher valueswill make it rotate more quickly.

Altitude Tuning

The Altitude hold related tuning parameters are highlighted in green inthe screen shot above.

The Altitude Hold P is used to convert the altitude error (thedifference between the desired altitude and the actual altitude) to adesired climb or descent rate. A higher rate will make it moreaggressively attempt to maintain it's altitude but if set too high leadsto a jerky throttle response.

The Throttle Rate (which normally requires no tuning) converts thedesired climb or descent rate into a desired acceleration up or down.

Cooking recipes downloadable book. The Throttle Accel PID gains convert the acceleration error (i.e thedifference between the desired acceleration and the actual acceleration)into a motor output. The 1:2 ratio of P to I (i.e. I is twice the sizeof P) should be maintained if you modify these parameters. These valuesshould never be increased but for very powerful copters you may getbetter response by reducing both by 50% (i.e P to 0.5, I to 1.0).

See the :ref:`Altitude Hold flight mode page <altholdmode>` for more information.

Mission Planner Download

Loiter Tuning

Generally if Roll and Pitch are tuned correctly, the:ref:`GPS <common-diagnosing-problems-using-logs_gps_glitches>`and :ref:`compass <common-diagnosing-problems-using-logs_compass_interference>`are set-up and performing well and :ref:`vibration levels <common-diagnosing-problems-using-logs_vibrations>`are acceptable, Loiter does not require much tuning but please see the:ref:`Loiter Mode <loiter-mode_tuning>` page for more details on tunableparameters including the horizontal speed.

In-flight tuning

A single parameter's value can be tuned in flight using thetransmitter's Ch6 tuning knob. A specific example for tuning the RateRoll/Pitch P values can be found on the :ref:`Rate Roll and Pitch P tuning wiki page <ac_rollpitchtuning_in-flight_tuning>`.Please see the Ch6 Opt drop-down on the Mission Planner'sConfig/Tuning Copter Pids's screen for a full list of parametersthat can be tuned.

After setting the Ch6 Opt value, the Min and Max should also be set toreasonable values (i.e. non-zero and also not unreasonably high) andthen the 'Refresh screen' button should be pushed by tuning the Ch6 knobto ensure that the parameter is updating correctly.

Filter tuning

Copters are often affected by vibration and tuning the various software filters available is critical to achieving an overall tune.A guide on tuning the various notch filters available can be found on the :ref:`Notch Filtering wiki page <common-imu-notch-filtering>`.

Video introduction to PIDs

Mission Planner Auto Tuning

Mission Planner Auto Tuning For Sale

PIDs (Proportional - Integral - Derivative) are the method used by ourfirmware to continuously stabilize the vehicle

Mission Planner Auto Tuning Reviews

  • Proportional = Immediate Correction: The further off you are thebigger the correction you make.
  • Integral = Over time or steady state correction: If we are failing tomake progress add additional correction.
  • Derivative = Take it Easy correction: Is the correction going tofast? if it is slow it down (dampen) it a bit to avoid overshoot.