Copter: AutoTune produces ridiculously small ACCEL_MAX values

[mbuzdalov]

Bug report

Issue details

In my 2" whoop-sized quad, running AutoTune produces nice enough rate and angle PIDs, but too small maximum accelerations.

Example: ATC_ANG_RLL_P of 25+, but ATC_ACCEL_R_MAX of around 1000, written as 4000 because it was clamped from below.

These values are not safe to fly.

Version

GitHub master, commit 3ed6ada2e316c52ee9ebae4202c99c681e891693.

Platform [ ] All [ ] AntennaTracker [X ] Copter [ ] Plane [ ] Rover [ ] Submarine

Airframe type

Quadcopter.

Hardware type

FlywooF405S-AIO

Logs

Two logs are attached, for roll and yaw. They are filtered to 5Hz because the flash chip is very small, but should likely be enough for analysis.

24-12-03_22-19-27_roll.bin.gz 24-12-03_22-56-20_yaw.bin.gz

[tpwrules]

This is reproducible in SITL, on 4.5 ATC_ACCEL_(R|P)_MAX are around 500k but on master they are 20k.

[mbuzdalov]

28800 fixes this issue nicely.