AUTOTUNE_ parameters¶

11 parameters in the AUTOTUNE_ family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.

AUTOTUNE_ACC_MAX¶

AutoTune maximum allowable angular acceleration

maximum angular acceleration in deg/s/s allowed during autotune maneuvers

Units	`deg/s/s`
Range	`1` to `4000`
User level	Standard

AUTOTUNE_AGGR¶

Autotune aggressiveness

Autotune aggressiveness. Defines the bounce back used to detect size of the D term.

Range	`0.05` to `0.10`
User level	Standard

AUTOTUNE_AXES¶

Autotune axis bitmask

1-byte bitmap of axes to autotune

User level

Standard

Bitmask¶

Value	Meaning
`0`	Roll
`1`	Pitch
`2`	Yaw

AUTOTUNE_FRQ_MAX¶

AutoTune maximum sweep frequency

Defines the end frequency for sweeps and dwells

Range	`50` to `120`
User level	Standard

AUTOTUNE_FRQ_MIN¶

AutoTune minimum sweep frequency

Defines the start frequency for sweeps and dwells

Range	`10` to `30`
User level	Standard

AUTOTUNE_GMBK¶

AutoTune Gain Margin Backoff

Fraction by which tuned P and D gains are reduced after rate and angle AutoTune steps complete. This provides extra stability margin by reducing gains slightly from the optimal values found during tuning. A value of 0.0 applies no reduction. A value of 0.25 reduces tuned gains by 25%.

Range	`0.0` to `0.5`
User level	Standard

AUTOTUNE_GN_MAX¶

AutoTune maximum response gain

Defines the response gain (output/input) to tune

Range	`1` to `2.5`
User level	Standard

AUTOTUNE_MIN_D¶

AutoTune minimum D

Defines the minimum D gain

Range	`0.0001` to `0.005`
User level	Standard

AUTOTUNE_RAT_MAX¶

Autotune maximum allowable angular rate

maximum angular rate in deg/s allowed during autotune maneuvers

Units	`deg/s`
Range	`0` to `500`
User level	Standard

AUTOTUNE_SEQ¶

AutoTune Sequence Bitmask

2-byte bitmask to select what tuning should be performed. Max gain automatically performed if Rate D is selected. Values: 7:All,1:VFF Only,2:Rate D/Rate P Only(incl max gain),4:Angle P Only,8:Max Gain Only,16:Tune Check,3:VFF and Rate D/Rate P(incl max gain),5:VFF and Angle P,6:Rate D/Rate P(incl max gain) and angle P

User level

Standard

Bitmask¶

Value	Meaning
`0`	VFF
`1`	Rate D/Rate P(incl max gain)
`2`	Angle P
`3`	Max Gain Only
`4`	Tune Check

AUTOTUNE_VELXY_P¶

AutoTune velocity xy P gain

Velocity xy P gain used to hold position during Max Gain, Rate P, and Rate D frequency sweeps

Range	`0` to `1`
User level	Standard