VTOL Quick Tune First Test (on a multicopter)

[@MrSiciro]

O wow. This is so much better than Autotune. Will try this today

[@TheBagpiper]

Thank you for your great videos. Would you have a guide/link on how to trigger a particular script on the Herelink controller? It seems that once I enable scripting on MP, the script runs automatically. It'd be nice to stop it or restart it, or even have multiple scripts 😃

[@iamwobster]

Wow, that's a real game changer! Awesome job!

[@antznixon]

Thanks, Randy. This looks great. I've set up LUA script for the Hexoon lights just to make sure it was working. few hitches in way of the script dir not creating initially and a weird prearm error but it ran the script. Important to rename .lua so it recognises that file format. Onto Harmonic Notch Filtering next. Assume that is still a requirement? do you need for Autotune as well?

[@antznixon]

Hi Randy, just to confirm. Is Harmonic Notch Filtering a pre-requisite? I can get the script to load and it's set to RC7_OPTION = 300 but nothing initializes on the RC

[@jony3009]

Wow great Randy, but how is the result compared with previous Autotune process?? How it works as there is no movent at all during autotune??

[@rmackay9]

Hi Tony, it is safer and easier than the normal AutoTune flight mode but less complete. This method only calculates the lowest level "rate" gains. These are the most important gains but regular AutoTune calculates other parameters as well including angle gains and the vehicle's maximum rotational acceleration (e.g. how quickly the rate of rotation can change). The vehicle does rotate slightly but it is very subtle.

[@jony3009]

@@rmackay9 So that means this is the first step. After finishing Quick Autotune, then to make it perfect, we need to do Normal Autotune , right? Is this Quick Autotune only available in 4.3 Fw? When do you think 4.3 will become stable release? Thank you for your super fast response... I always appreciate all your work to improve the Ardupilot system.

[@rmackay9]

@@jony3009 thanks. We back ported this to Copter-4.2 so it is available with the current stable release (4.2.3). github.com/ArduPilot/ardupilot/blob/Copter-4.2/libraries/AP_Scripting/applets/VTOL-quicktune.md#operation . Yes, you could run this script first to get the vehicle flying fairly well and then move on to the regular AutoTune if you think that's necessary. The regular AutoTune fails for a significant number of vehicles for various reasons so for those vehicles this script at least replaces the hardest part of doing a manual tune.

[@kapacheuski]

Good! Sometimes the battery level affects the response of the drone - is it better to autotune at 100% battery or 50% battery? What you think ?

[@rmackay9]

Hi Yuri, I think it should be tuned using a full battery and the battery voltage compensation should also be configured ardupilot.org/copter/docs/current-limiting-and-voltage-scaling.html#voltage-scaling

[@kapacheuski]

@@rmackay9 Thanks !

[@uavsimplified6315]

unable to get my GPS to connect in 4.3.0 Dev FC - Cube Orange with Here 3 GPS connected to CAN 1 port parameters CAN_P1_DRIVER set to 1 GPS_Type set to 9 NFT_LED_TYPES set to DroneCan after reset GPS does not come on. Don't have this issue in Official V4.2.3 can I use this Luna script in 4.2.3 ?

[@rmackay9]

@UAV Simplified, yes, this script works with 4.2.3. Feel free to post issues with 4.3.0-beta2 in the 4.3 support category and ideally provide an onboard log. discuss.ardupilot.org/c/arducopter/copter43/167

[@uavsimplified6315]

@@rmackay9 thank you

[@minnie159732]

if i follow the video Wouldn't that be a problem when using the vtol construct?

[@uavsimplified6315]

Will this help to increase flight time ? Make drone more efficient ?

[@rmackay9]

Hi UAVSimplified, it might if the vehicle's tuning is very bad at the moment. If the vehicle is flying well then I wouldn't expect this to make much difference.

[@alcomen]

Nice! What"s the controller and version used? Tks.

[@rmackay9]

Hi Alessandro, txs. The autopilot is a CubeOrange running ArduPilot-4.3.0-DEV and the handset is a HereLink.

[@alcomen]

@@rmackay9 right! Thank you very much!

[@austntexan]

So it stays in LOIT while runs Quick Tune?

[@rmackay9]

@WOThrottle, yest, that's right. The vehicle remains in Loiter during the tune.

[@glenngregory]

That's a nice feature! What's the vehicle?

[@rmackay9]

Hi Glenn, the frame is a Hexsoon TD650 with CubePilot CubeOrange running ArduPilot Copter-4.3.0-DEV

[@glenngregory]

@@rmackay9 thanks!

[@gowrishankar7011]

Your tx name? Herelink?

[@cinedronefpv8783]

Herelink

[@solid6509]

What kind of radio this is?

[@rmackay9]

@Solid, this is a CubePilot HereLink.