# Autotune Feature in PX4 1.14-dev Version for Sentinel Drone (VOXL2 Board) Source: https://forum.modalai.com/topic/2213/autotune-feature-in-px4-1-14-dev-version-for-sentinel-drone-voxl2-board Category: General Questions (https://forum.modalai.com/category/2/general-questions) Posted: 2023-05-31 20:28:41 UTC by dlee Replies: 10 · Views: 2061 ## dlee · 2023-05-31 20:28:41 UTC Hello, I am trying to perform Autotune on my Sentinel Drone (VOXL2 Board) using QGroundControl (QGC). Currently, the PX4 version I am using in Voxl-suite (0.9.5) is 1.12, which does not have the Autotune feature. However, I have confirmed that Autotune was added starting from version 1.13 (In version 1.12, there was an Autotune menu, but when I clicked on it, I encountered an "ACK Error 3"). To address this, I have built the PX4 1.14-dev version from the ModalAI GitHub repository and installed it on my Sentinel Drone. However, I couldn't find the PID tuning menu, even after updating to the 1.14-dev version. I have also searched for Autotune-related parameters in PX4, but couldn't find any information. I am curious to know if it is possible to perform Autotune in the 1.14-dev version. Additionally, I would like to mention that Autotune worked well when I performed it on a VOXL1 Board using PX4 version 1.13. If anyone has experience or knowledge regarding the availability of Autotune in the 1.14-dev version or any alternative solutions for PID tuning in the PX4 version I'm using, I would greatly appreciate your guidance. Thank you for your support! ## Reply by Eric Katzfey (ModalAI staff) · 2023-05-31 20:56:13 UTC @dlee I'm not familiar with the 1.14-dev version. For VOXL2 you would want to use the voxl-dev branch in our GitHub repo. We have tried autotune with that branch and a much smaller drone and the autotune procedure ran but failed to produce valid gains. We have not yet spent the time to figure out why that happened. ## Reply by dlee · 2023-05-31 22:36:50 UTC (in reply to Eric Katzfey) @Eric-Katzfey I changed it to the voxl-dev repository and built it, then did depackaging on voxl2. However, I still can't see autotune. Is there any other method? ![8f26bfd2-a38d-4f5a-b42e-a72908c829b3-image.png](https://forum.modalai.com/assets/uploads/files/1685572458901-8f26bfd2-a38d-4f5a-b42e-a72908c829b3-image.png) ![6dca901f-ca50-4fd2-8b70-c80d16f776a9-image.png](https://forum.modalai.com/assets/uploads/files/1685572665578-6dca901f-ca50-4fd2-8b70-c80d16f776a9-image.png) ## Reply by Eric Katzfey (ModalAI staff) · 2023-05-31 23:06:48 UTC (in reply to dlee) @dlee We tested by running voxl-px4 on target manually and then set MC_AT_START to 1 when the drone was flying. I would expect that if you have it disabled and are flying that when you set it to enabled the procedure would start. Is that not what you are experiencing? ## Reply by dlee · 2023-06-05 21:32:24 UTC (in reply to Eric Katzfey) @Eric-Katzfey When I do arm, I encounter this error on QGC. Do you know this? "MAV_CMD_COMPONENT_ARM_DISARM command temporaily rejected" Because of this error, I cannot fly the drone. ## Reply by Eric Katzfey (ModalAI staff) · 2023-06-05 22:54:44 UTC (in reply to dlee) @dlee That's kind of generic. There should also be a more specific preflight failure that tells you exactly what the issue is. ## Reply by dlee · 2023-06-05 23:30:04 UTC (in reply to Eric Katzfey) @Eric-Katzfey I got this message: "preflight fail : open drone id system missing". ## Reply by Eric Katzfey (ModalAI staff) · 2023-06-05 23:32:03 UTC (in reply to dlee) @dlee You can set the parameter COM_ARM_ODID to 0 to ignore those. ## Reply by dlee · 2023-06-06 18:35:29 UTC (in reply to Eric Katzfey) @Eric-Katzfey Could you see this [video](https://www.youtube.com/watch?v=CDd7bI_EqYE)? When I put parameters downloaded from gitlab (Sentinel_V1.params-[link](https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.14/platforms/Sentinel_V1.params)), ESCs error occurs. This capture is the menu of Actuators. Actuator testing doesn't work too. ![6682d5e4-b29d-4aee-b0d0-fb464bc7e9e0-image.png](https://forum.modalai.com/assets/uploads/files/1686076950699-6682d5e4-b29d-4aee-b0d0-fb464bc7e9e0-image.png) ## Reply by Eric Katzfey (ModalAI staff) · 2023-06-07 22:45:10 UTC (in reply to dlee) @dlee It's likely that moving to the newer version of PX4 resulted in some incompatibilities in parameters or something else. Rather than try to resolve with your current software would you be willing to try our latest software platform release (currently in beta)? If you are interested I can send you a link to the new platform release via email. ## Reply by Eric Katzfey (ModalAI staff) · 2023-06-08 00:11:27 UTC @dlee Sent!