Page Comparison

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SystemIdentSettings -> SmoothQuickSource is where you attach a real slider.  SmoothQuickSource = 0 disables SmoothQuick entirely.  The default of 25 says to access the next of a set of 5 equally spaced points on the slider by toggling the Flight Mode Switch (starting outside of AutoTune) into AutoTune and back out, 3 times, in less than 2 seconds, but only if armed.  If you think of the SmoothQuick slider as a scale from 0 -100 to +100, with smoothest being 0 -100 and quickest being +100, then you start out in the middle at 500.  The first time you do the fast FMS 3x double toggle it will move you to 75 +50 on the slider, then +100, then 0-100, then 25-50, then back to 500, etc.  If you do the fast FMS 3x toggle while disarmed, it will always set it to 500.  You can do that to set it to a known value if you forget.  SmoothQuickSource = 23, 25, and 27 give you 3, 5, and 7 equally spaced stops on the SmoothQuick slider.  25 is the default .  You get 25 without any extra setupand gives you positions at -100, -50, 0, 50, and 100.

You can also set SmoothQuickSource to be a number from 10 to 13 which corresponds to using Accessory0 to Accessory3 to directly adjust the slider.  This requires that you have an available knob or slider on your transmitter, that you already have your transmitter configured to send it out as a separate channel, that the FC has been configured to attach that RC channel to one of the four FC Accessory channels, and that that FC Accessory is not being used by another FC function.

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Using SmoothQuick semi-permanently:
If you enable the AutoTune module manually then it will always be running, even if there is no AutoTune flight mode or SystemIdent stabilization mode in your FMS.  In that case your SmoothQuick Accessory knob (or FMS 3x toggle) is always active for to change the PIDs in the destination PID bank (default 2) and you can adjust PIDs from smooth to quick any time you need it.

AutoTune data:
The settings used by SmoothQuick are all stored permanently in SystemIdentSettings.  They are Tau and , GyroReadTimeAverage, the 3 Beta values (for the temporary LP-340 version, there is also GyroReadTimeAverage), and SmoothQuickSetting.  'Complete' must also be True.  You can copy these by hand from another FC or from a previous tuning session.  Then while disarmed and depending on which kind of SmoothQuick input you have enabled, you should do the SmoothQuick FMS 3x double toggle or move (important) and center your SmoothQuick Accessory channel with everything powered up (e.g. flight battery plugged in for the receiver and transmitter switched on).  This last bit will guarantee that you start out with PIDs in the middle of the SmoothQuick rangeSmoothQuickSetting is only important if you use the 3x FMS toggle method to select how smooth or quick you want your PIDs.  It stores the current value of the toggle as a number from -1 to +1.

If you erase settings or build a copy of your tuned model, you can copy the settings by hand if you know what they are.  They are stored as text in an exported uav file, or you can make a screen capture when they are visible on your computer screen.

AutoTune tries to produce results that make the tuning flight correctly tuned.  That does not take into account the non-linearity of thrust response.  To remove high thrust oscillations (or increase stability during descent), use TPS to decrease PIDs at high thrust (and if necessary, increase PIDs at low thrust).  Typically you want the TPS curve/line to cross the horizontal axis at the point (thrust value) where the copter hovers.  Examine SystemIdentState -> HoverThrottle after tuning and before you power off (not saved) to see what your hover thrust is.  Beware of throttle bloom that happens when slow responding ESC's make a copter climb just because of the fast RPY controls.

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System.SystemIdentSettings:
- Is stored permanently
- Is not logged
- Is reset to default values if you stay in AutoTune mode until the shaking starts (about 2.5 seconds).  As with other data changes, this is not stored permanently until you disarm.  If you power off without disarming, the reset values are not stored permanently.
- Tau, GyroReadTimeAverage, Beta (3 values), and Complete are the only fields filled in by AutoTune.  Other fields are used by SmoothQuick to convert Tau and the Betas these values into PIDs and check and limit the PIDs.
- DampMin, DampRate, DampMax affect the control damping.  Decrease damping to make your aircraft response more rapidly.
- NoiseMin, NoiseRate, NoiseMax affect control sensitivity.  Increasing noise (sensitivity) will make your aircraft respond more rapidly, but will cause twitches due to noise
- These Damp and Noise values together form the dual virtual slider SmoothQuick
- The smooth end of SmoothQuick uses DampMax and NoiseMin
- The quick end of SmoothQuick uses DampMin and NoiseMax
- The center of the SmoothQuick slider uses DampRate and NoiseRate
- CalculateYaw can be False,TrueLimitToRatio,TrueIgnoreLimit default is TrueLimitToRatio
- YawToRollPitchPIDRatioMin is enabled with CalculateYaw default is 1.0
- YawToRollPitchPIDRatioMax is enabled with CalculateYaw default is 2.5
- DestinationPidBank default is 2
- TuningDuration is 60 seconds
- SmoothQuickSource default is 25
- SmoothQuickSetting default is 0
- DisableSanityChecks disables certain checks that stop the PIDs from being written default is false
- Complete is set true after a successful AutoTune run.  It must be true for PIDs to be written to DestinationPidBank 

DataObjects.SystemIdentState
- Is logged
- Is not stored permanently
- (Goes away when power is removed)
- Is logged
- HoverThrottle is the average throttle used during tuning.  It is a good reasonable value to use in Settings.AltitudeHoldSettings.ThrustLimits.Neutral although it is usually a little smaller than it should be due to throttle bloom during shaking.
- The 3 values in Noise tell you how much vibration you have on the 3 axes.  Normal values range from about 100 to about 1000.  For high values, or jittery response to the PIDs created, you may want to increase Settings.StabilizationSettings.GyroTau (found in the GCS GUI at Configuration -> Stabilization -> Expert -> GyroNoiseFiltering) and retune.  Now you know how much vibration you actually have.
- Contains fields that may be useful if debugging problems with AutoTune
- Contains copies of some fields from System.SystemIdentSettings