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The AUTOTUNE mode is a flight mode that flies in the same way as FBWA,but uses changes in flight attitude input by the pilot to learn the keyvalues for roll and pitch tuning. So the pilot uses their transmittermode switch to switch to AUTOTUNE mode and then flies the plane for afew minutes. While flying the pilot needs to input as many sharpattitude changes as possible so that the autotune code can learn how theaircraft responds.

You can also autotune the yaw axis during AUTOTUNE for yaw rate control in ACRO mode by setting YAW_RATE_ENABLE = 1 and ACRO_YAW_RATE to a value equal or less than the yaw rate capability of the vehicle(90 deg/s is a typical value). This of course assumes that the vehicle has yaw control surfaces(an elevon only flying wing does not, for example).

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the autotune system will monitor your demanded roll and pitch rates(as determined by your transmitter stick movements). When thedemanded roll or pitch rate (or yaw rate if YAW_RATE_ENABLE = 1) exceeds 40% of the maximum tuning target axis rate set by the ref:AUTOTUNE_LEVEL,(not stick deflection) the autotune system will use the response of the aircraft to learn the tuning values. So sharp stick movements are required with a slight pause at moderate to maximum stick deflections in each direction.

the autotune system will save the P and D parameters once the tune has been completed for an axis. When you switch out of AUTOTUNE mode the FF and I values will be saved. Switching out of AUTOTUNE in the midst of tuning an axis will revert the PID values to their original values.

The ATRP.Demanded field is the demanded rate of attitude change (rollrate or pitch rate) in degrees per second. The ATRP.Achieved field iswhat the aircraft actually achieved in attitude change rate. As you cansee in the above graph, at the start of the autotune the demanded valueswere much higher than the achieved, because the tuning gains were toolow. As the tune progressed the demanded and achieved started toconverge. The blue line in the above graph is the ATRP.P value, which isthe P gain for the controller. You can see it rose from 0.8 up to a highof 2.2, then dropped back slightly to around 1.85.

You will also notice that the graph has gaps in it. This is for periodswhere the pilot was not demanding a high rate of attitude change. Theautotune system only works while the pilot is demanding a rapid attitudechange (above 80% of the maximum rate).

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