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Quick Auto PID Tuning ​

If the guidance above does not get you the control response you want, try quick auto tuning.

WARNING

Quick auto tuning has a small chance of arriving at the wrong PIDs. Do not run it on a high-value aircraft.

Quick auto tuning ​

TIP

Before running a quick tune, make sure you have finished the pre-tuning setup and the aircraft can already fly and hover steadily.

While flying, the quick tune tries to match these parameters:

ATC_RAT_RLL_P
ATC_RAT_RLL_I
ATC_RAT_RLL_D
ATC_RAT_PIT_P
ATC_RAT_PIT_I
ATC_RAT_PIT_D
ATC_RAT_YAW_P
ATC_RAT_YAW_I
ATC_RAT_YAW_D

TIP

Compared with AutoTune, QuikTune is safer because the aircraft does not have to move or twitch. The trade-off is that QuikTune cannot find the maximum rotational acceleration — the pre-tuning setup covers that.

Running the script ​

  • Set SCR_ENABLE = 1 (enables scripting), then restart the controller.
  • Download VTOL-quicktune.lua to your computer.
  • Copy the script to APM/scripts on the controller's SD card.

  • Restart the controller and set QUIK_ENABLE = 1.
  • Assign a 3-position switch on the transmitter with RCx_OPTION=300 (x is the channel number).

TIP

You can use Mission Planner's Aux Function set to "Scripting1" instead of a transmitter switch.

Running the tune ​

  • Pick a calm, clear day and an open area with clear airspace.
  • Connect the ground station and open the Messages pane so you can see the tuning progress.
  • Put the transmitter switch in the low position, or press the low button in the "Scripting1" tab.
  • Take off in Loiter and climb to about 3 m.
  • Move the switch to the middle position, or press the middle button in the "Scripting1" tab.
  • You can correct the aircraft's position with the sticks as it goes; that pauses the tuning, and it resumes once you stop making inputs.

TIP

If it starts swinging violently, put the switch back to low (or press the low button) to cancel, then tune by hand following the rate PID guide.

  • When the messages say the tune has finished, move the transmitter switch to high (or press the high button) to save the results.
  • Land and disarm.

Custom configuration ​

The script has its own configuration parameters if you want to change how the tuning behaves.