Transmitter Based Tuning

You can perform extensive parameter tuning in flight using your R/C transmitter. This is meant for advanced users who are unable to use the Autotune features or wish to do fine tuning with full manual tuning control of each parameter

Overview

Transmitter based tuning allows you to tune a single parameter or a set of parameters while flying. The basic idea is to link the tuning value of a parameter to a knob or slider on your transmitter then to adjust the parameter in flight by moving the knob.

With transmitter based tuning you can tune a single or multiple parameters in flight using Channel 6 of the transmitter.

The TUNE parameter determines which parameter is being tuned.

The TUNE_MAX parameter determines the maximum value of the parameter when the channel is at RC6_MAX, while the TUNE_MIN parameter determines the value when RC channle 6 is at RC6_MIN.

TUNE Values

Value Meaning Parameter
0 None  
1 Stab Roll/Pitch kP ATC_ANG_RLL_P , ATC_ANG_PIT_P
4 Rate Roll/Pitch kP ATC_RAT_RLL_P , ATC_RAT_PIT_P
5 Rate Roll/Pitch kI ATC_RAT_RLL_I , ATC_RAT_PIT_I
21 Rate Roll/Pitch kD ATC_RAT_RLL_D , ATC_RAT_PIT_D
3 Stab Yaw kP ATC_ANG_YAW_P
6 Rate Yaw kP ATC_RAT_YAW_P
26 Rate Yaw kD ATC_RAT_YAW_D
56 Rate Yaw Filter ATC_RAT_YAW_FLTE
55 Motor Yaw Headroom MOT_YAW_HEADROOM
14 AltHold kP PSC_POSZ_P
7 Throttle Rate kP PSC_VELZ_P
34 Throttle Accel kP PSC_ACCZ_P
3 Throttle Accel kI PSC_ACCZ_I
36 Throttle Accel kD PSC_ACCZ_I
12 Loiter Pos kP PSC_POSXY_P
22 Velocity XY kP PSC_POSXY_P
28 Velocity XY kI PSC_VELXY_I
10 WP Speed WPNAV_SPEED
25 Acro RollPitch kP ACRO_RP_P
40 Acro Yaw kP ACRO_YAW_P
45 RC Feel ATC_INPUT_TC
13 Heli Ext Gyro H_GYR_GAIN
38 Declination COMPASS_DEC
39 Circle Rate CIRCLE_RATE
41 RangeFinder Gain RNGFND_GAIN
46 Rate Pitch kP ATC_RAT_PIT_P
47 Rate Pitch kI ATC_RAT_PIT_I
48 Rate Pitch kD ATC_RAT_PIT_D
49 Rate Roll kP ATC_RAT_RLL_P
50 Rate Roll kI ATC_RAT_RLL_I
51 Rate Roll kD ATC_RAT_RLL_D
52 Rate Pitch FF ATC_RAT_PIT_FF (heli only)
53 Rate Roll FF ATC_RAT_RLL_FF (heli only)
54 Rate Yaw FF ATC_RAT_YAW_FF (heli only)
57 Winch WINCH_RATE_MAX
58 SysID Magnitude SIDS_MAGNITUDE

These values can be either set manually or using Mission Planner

Setting with Mission Planner

Rate Roll P and Rate Pitch P will be used in the following example procedure

../_images/RollPitchTuning.png
  1. Connect your autopilot to Mission Planner
  2. On Mission Planner, select CONFIG>>Extended Tuning
  3. Set the TUNE drop down box option to “Rate Roll/Pitch kP”
  4. Set Min to 0.08, Max to 0.20 (most copters ideal gain is within this range although from a small number of copter the Max can be as high as 0.25)
  5. Push the “Write Params” button
  6. Turn your transmitter’s CH6 tuning knob to the minimum position, press the “Refresh Params” button and ensure that the Rate Roll P and Rate Pitch P values become 0.08 (or something very close)
  7. Turn the CH6 knob to it’s maximum position, press “Refresh Params” and ensure the Rate Roll P moves to 0.20
  8. Move the CH6 knob back to the middle
  9. Arm and fly your copter in Stabilize mode adjusting the ch6 knob until you get a copter that is responsive but not wobbly
  10. After the flight, disconnect your LiPo battery and reconnect the autopilot to the mission planner
  11. With the CH6 knob in the position that gave the best performance, return to the Copter Pids screen and push the “Refresh Params” button
  12. In the Rate Roll P and Rate Pitch P fields re-type the value that you see but just slightly modified so that the mission planner recongises that it’s changed and resends to the autopilot (Note: if you re-type exactly the same number as what appears in Rate Roll P it won’t be updated). So for example if the Rate Roll P appears as “0.1213” make it “0.1200”
  13. Set Ch6 Opt back to “None” and push “Write Params”
  14. Push the Disconnect button on the top right, and the Connect
  15. Ensure that the Rate Roll P value is the value that you retyped in step #12

Note: while you are moving the tuning knob the values update at 3 times per second. The need to press the Refresh button in the mission planner in steps #6 and #7 above is just because the Copter is not sending the updates to the mission planner in real-time.