How to Use Automatic Hyperparameter Tuning (Autotune)

CoreWingAbout 2 minArduPilotArduPilot自动调参AutotunePID参数优化飞行手感

一、原理

Autotune is a function provided by the ArduPilot firmware to automatically optimize control parameters, mainly used to improve flight handling and increase the precision of attitude control.
This mode automatically adjusts PID gain values based on user pitch and roll inputs during flight, making the aircraft fly more stably and smoothly in stabilized mode, and reducing the workload of manual tuning.

二、设备准备

1) Flight Controller: Any of the SpeedyBee F405 WING APP / SpeedyBee F405 WING MINI / CoreWing F405 WING V2 flight controllers is applicable to this tutorial.
2) Assembled aircraft: Includes RC transmitter, receiver, VTX (video transmitter), and FPV equipment (goggles).
3) Ground Control Station (GCS): Mission Planner.

三、具体操作

3.1 Set the Autotune Mode Switch

Connect the flight controller to the computer and open the Mission Planner GCS.
Enter the Initial Setup / Essential Hardware / Flight Modes page, set one flight mode to AUTOTUNE, and click Save Modes.

Important

Note: Flight modes are set to three-position mode by default.

For information on how to set up six-position flight modes, refer to: https://docs.corewing.com/plane/ardupilot/settings/rc/sixpos-switch.html

3.2 Perform Autotune Flight

3.2.1 Enter AUTOTUNE Mode

1. After takeoff, maintain level flight.
2. Ensure the flight is stable, then switch the flight mode to AUTOTUNE.

3.2.2 Perform Roll Autotune

While in level flight, perform Roll Autotune:

First, move the stick fully left to reach the maximum left roll angle.
Quickly return to center.
Then, move the stick fully right to reach the maximum right roll angle.
Quickly return to center.
Repeat this operation repeatedly.
Until the OSD information displays ROLL: Finish.
Until the OSD displays "ROLL FINISH".

3.2.3 Perform Pitch Autotune

After Roll tuning is complete, start Pitch Autotune:

First, pull the stick fully up to reach the maximum pitch angle.
Quickly return to center.
Then, push the stick fully down to reach the maximum pitch angle.
Quickly return to center.
Repeat this operation repeatedly.
Until the OSD displays "PITCH FINISH".

Result Verification
1. Switch to FBWA mode, observe if the aircraft's roll and pitch response is smooth, without obvious jitter or lag.
2. Perform a few pitch and roll tests to ensure the new PID settings provide a stable control feel.
3. Lock and save parameters after landing.

四、Q&A

Q: Will the autotune parameters change under different weather conditions?
A: Yes. Autotune parameters obtained on windy days may not be suitable for calm weather. The aircraft may jitter in calm weather. It is recommended to re-run autotune when the weather changes to ensure a good flight experience.