Auto Tune UpAir One

Posted on Posted in All Posts, How-To

We all know that upAir is a great drone to tune and mod, and with this mod you can make it just that little bit better.

*UPDATE* this has been done by a few people I know, and the results vary a lot.
Please make sure you have a SCREENSHOT of the current settings. not all UpAirs are getting the same results, some of them even fly worst after auto tune

Modded UpAir drones have the ability to be fine tuned with Mission Planner (download it here)
And in order to do the following, you will need to do the USB mod. I am not sure how this works out on the latest V4 version with PX4 board, but if you managed to do it, let me know.

we all know that PID’s are very important, and well tuned PID’s can make a lot of difference.
On the other hand, tuning PID’s can take a lot of time, and if you mess it up you can do serious harm to your drone as it could be hard to fly.

You can choose to do change the PID’s by hand, and if you know what you are doing this should not be hard.

There is an easier way, and it is the best way if you are not sure what to do.
First you need to connect the drone to mission planner

Select channel 7 to be autotune (instead of RTL) you can change this back to RTL after you have done the autotune.
Make a screenshot of the current settings, this will give you the ability to revert to these settings when needed, and you can compare the new settings to the old ones.

standard channel 7 is RTL

And we need to change that to AutoTune

Once channel 7 has been set to auto tune disconnect MissionPlanner and get out to fly the drone, make sure you have a fresh pack of batteries!!

Once you are out, and want to start autotune make sure you have enough space to do it.


Start up the drone as usual, wait for a GPS lock before you take off.

Once you are in the air, and have enough room, switch to altitude hold mode (ALTHOLD)
Then it is time to do the auto tune.
Use the switch that is normally used for RTL to activate the autotune function.

you can see the screen change to “LTH”

Once activated the drone will start to move forward and backward in short movements. this is perfectly normal, and you should leave it that way.

If the drone drifts away you can correct it, but DON’T switch it to GPS mode, it will cancel the tune!
When the forward and rear movements are done it will start to do the same sidewards.
This movie shows the movements it makes:


and this is what it looks like from “inside”

When the drone has finished tuning it will stop, and start to hover (it can drift, because it is in ALTHOLD mode.
Land the drone in ALTHOLD mode and disarm the motors. it will only save the parameters when it gets disarmed, and in ALTHOLD mode.

Now do some flying like you are used to, you can use POSHOLD like normal, and see if it has made any difference at all.

When you get back at the computer, go back to the screen you where to change the channel 7 mode and compare the settings.
Since Gten use generic settings in their firmware, there should be some difference.
now you can also change channel 7 back to RTL.

If all went well your UpAir should fly a lot better!

31 thoughts on “Auto Tune UpAir One

  1. I recently managed to d I y the cable for the usb mod on my up air (PX4 board) got all connected to mission planner,did the calibration of the accelerometer,no problem.Tried a number of times to calibrate the compass and kept failing?.Also tried to calibrate the controller and got no response from any of the controls on mission planner. I have now discovered I cannot even start my motors! I have clear picture on monitor and gimbal but apparently no signal to the drone. I’ve stripped it back down and checked all wires and connections and they are ok. Can anyone help???

      1. Hi, Thanks for that and I will download it, that is if I can find out what has happened to my radio control. I’m not even sure if it is a PX4 board it’s an upair one version 2.Is there any way I can get my controller back working? The FPV monitor is showing the mode as STAB? Not sure what that means, I take it to mean stabilized. The signal to bind the radio to the drone has obviously been corrupted by mission planner somehow. Any suggestions would be greatly appreciated.

        1. take the battery out, and look at the board, it’ll tell you what kind of UpAIr you have.

          STAB mode is indeed stabilising mode, that is normal when you start up the drone.
          Have you touched the wizard? I hope not!

  2. Thanks, and no I didn’t touch the wizard, all I did was follow Mike Roy’s you tube video, although his version of mission planner is different to the one I downloaded. If I can just find a way to get my radio back talking to my drone I would be delighted. I appreciate your advised downloads but until this happens I’m afraid I can’t accomplish anything. Is there a way of undoing what has happened?

  3. Thanks for your zip file, but I’m afraid I don’t know how to use it in order to get parameters back into my drone. Can you explain?. I have since had a notice on my screen saying ” no MAV data” how could this have happened by simply trying to calibrate my drone? I truly wish I had left it as it was, at least it started up. I have also checked Gten’s manual for binding the radio to the drone and no matter how many times I try have yet to see a green light on the base of the controller.Is there anything I can do in mission planner to retrieve my drone? Help!!!!,

  4. Hi, Initially I clicked mandatory hardware and proceeded to go down the list, which I thought would calibrate everything. I managed the accelerometer ok but compass kept failing so I tried calibrating the controller. This did not register any input at all. I never changed any of the values on any of the menus, but I do remember clicking on a box at the top of a screen which said write parameters and a box next to that which says refresh. That is the only thing I did in mission planner. I have tried all day to get my drone working to no avail. I can’t even bind the controller to the drone.Is it possible to download the firmware from mission planner?

  5. Hi, As I mentioned earlier I have downloaded your zip file but I don’t know how to upload it to the drone. My version of mission planner does not have all the menu items that yours has I.e. I don t have a full parameter list or the menus on the right to allow you to save to file etc. If you could explain how to upload your parameters from the zip file it would be a help.If I were to get these parameters would my radio controller then be operational again? Thanks.

  6. Hi, as you have probably realised i am a complete newbie to this hobby and am not getting off to a very good start. I will try to attach pictures of the screens i was in but i think the first one i went into was the config. screen with the various frame types on it. I was connected to mission planner at this point and clicked the frame type at quad. This opened a box at the right, which i took to be the code for my quad and i clicked load params. Nothing actually happened at this point so i went over to then try to calibrate accelerometer etc. as i already explained. I’m sorry I have got pictures here but don’t know how to attach them to this message, which is very frustrating.

  7. hi, me again. One of the screens i was on and i’m sure i clicked was the screen you have shown on your “autotune” where it says write params at the bottom and also refresh. I did click both of these but did not actually change anything else on that page. Any help?

    1. These are ALL the parameters…
      I managed to pull them out in text

      #NOTE: Drones4Life UpAir One V3 Parameters
      ACRO_BAL_PITCH,1
      ACRO_BAL_ROLL,1
      ACRO_EXPO,0.3
      ACRO_RP_P,4.5
      ACRO_TRAINER,2
      ACRO_YAW_P,4.5
      AHRS_COMP_BETA,0.1
      AHRS_GPS_GAIN,1
      AHRS_GPS_MINSATS,6
      AHRS_GPS_USE,1
      AHRS_ORIENTATION,0
      AHRS_RP_P,0.1
      AHRS_TRIM_X,0.05794818
      AHRS_TRIM_Y,-0.008177822
      AHRS_TRIM_Z,0
      AHRS_WIND_MAX,0
      AHRS_YAW_P,0.1
      ANGLE_MAX,2500
      ARMING_CHECK,-97
      ATC_ACCEL_RP_MAX,0
      ATC_ACCEL_Y_MAX,0
      ATC_RATE_FF_ENAB,0
      ATC_RATE_RP_MAX,18000
      ATC_RATE_Y_MAX,9000
      ATC_SLEW_YAW,1000
      BAROGLTCH_ACCEL,1500
      BAROGLTCH_DIST,502.8
      BAROGLTCH_ENABLE,1
      BATT_AMP_OFFSET,0
      BATT_AMP_PERVOLT,18.0018
      BATT_CAPACITY,5400
      BATT_CURR_PIN,12
      BATT_MONITOR,4
      BATT_VOLT_MULT,10.11687
      BATT_VOLT_PIN,13
      BATT_VOLT2_MULT,1
      BATT_VOLT2_PIN,-1
      CAM_DURATION,10
      CAM_SERVO_OFF,1100
      CAM_SERVO_ON,1300
      CAM_TRIGG_DIST,0
      CAM_TRIGG_TYPE,0
      CH7_OPT,4
      CH8_OPT,0
      CIRCLE_RADIUS,0
      CIRCLE_RATE,10
      COMPASS_AUTODEC,1
      COMPASS_DEC,0
      COMPASS_EXTERNAL,1
      COMPASS_LEARN,0
      COMPASS_MOT_X,0
      COMPASS_MOT_Y,0
      COMPASS_MOT_Z,0
      COMPASS_MOTCT,0
      COMPASS_OFS_X,-67
      COMPASS_OFS_Y,-10
      COMPASS_OFS_Z,-38
      COMPASS_ORIENT,20
      COMPASS_USE,1
      DCM_CHECK_THRESH,0.8
      EKF_CHECK_THRESH,0.8
      ESC,0
      FENCE_ACTION,1
      FENCE_ALT_MAX,100
      FENCE_ENABLE,0
      FENCE_MARGIN,2
      FENCE_RADIUS,300
      FENCE_TYPE,3
      FLOW_ENABLE,0
      FLTMODE1,2
      FLTMODE2,16
      FLTMODE3,16
      FLTMODE4,16
      FLTMODE5,16
      FLTMODE6,7
      FRAME,1
      FS_BATT_ENABLE,2
      FS_BATT_MAH,0
      FS_BATT_VOLTAGE,10.6
      FS_GCS_ENABLE,0
      FS_GPS_ENABLE,2
      FS_THR_ENABLE,1
      FS_THR_VALUE,925
      GND_ABS_PRESS,102458.5
      GND_ALT_OFFSET,0
      GND_TEMP,22.73343
      GPS_HDOP_GOOD,230
      GPS_NAVFILTER,8
      GPS_TYPE,1
      GPSGLITCH_ACCEL,1000
      GPSGLITCH_ENABLE,1
      GPSGLITCH_RADIUS,200
      HLD_LAT_P,1
      INAV_TC_XY,2.5
      INAV_TC_Z,5.02
      INS_ACCOFFS_X,-0.2058882
      INS_ACCOFFS_Y,0.1437459
      INS_ACCOFFS_Z,1.599152
      INS_ACCSCAL_X,0.9947688
      INS_ACCSCAL_Y,0.9965572
      INS_ACCSCAL_Z,0.9824782
      INS_GYROFFS_X,0.01209485
      INS_GYROFFS_Y,-0.02185374
      INS_GYROFFS_Z,-0.0001862384
      INS_MPU6K_FILTER,20
      INS_PRODUCT_ID,0
      LAND_REPOSITION,1
      LAND_SPEED,40
      LOG_BITMASK,10238
      LOITER_LAT_D,0.03
      LOITER_LAT_I,0.5
      LOITER_LAT_IMAX,1000
      LOITER_LAT_P,0.85
      LOITER_LON_D,0.03
      LOITER_LON_I,0.5
      LOITER_LON_IMAX,1000
      LOITER_LON_P,0.85
      MAG_ENABLE,1
      MIS_RESTART,0
      MIS_TOTAL,0
      MOT_SPIN_ARMED,100
      MOT_TCRV_ENABLE,1
      MOT_TCRV_MAXPCT,93
      MOT_TCRV_MIDPCT,52
      OF_PIT_D,0.12
      OF_PIT_I,0.5
      OF_PIT_IMAX,100
      OF_PIT_P,2.5
      OF_RLL_D,0.12
      OF_RLL_I,0.5
      OF_RLL_IMAX,100
      OF_RLL_P,2.5
      PHLD_BRAKE_ANGLE,4000
      PHLD_BRAKE_RATE,10
      PILOT_ACCEL_Z,250
      PILOT_VELZ_MAX,450
      POSCON_THR_HOVER,459
      RATE_PIT_D,0.006
      RATE_PIT_I,0.14358
      RATE_PIT_IMAX,1000
      RATE_PIT_P,0.14358
      RATE_RLL_D,0.008
      RATE_RLL_I,0.14358
      RATE_RLL_IMAX,1000
      RATE_RLL_P,0.14358
      RATE_YAW_D,0.006
      RATE_YAW_I,0.01
      RATE_YAW_IMAX,1000
      RATE_YAW_P,0.2
      RC_FEEL_RP,24
      RC_SPEED,450
      RC1_DZ,30
      RC1_MAX,1981
      RC1_MIN,994
      RC1_REV,-1
      RC1_TRIM,1475
      RC10_DZ,0
      RC10_FUNCTION,0
      RC10_MAX,1900
      RC10_MIN,1100
      RC10_REV,1
      RC10_TRIM,1500
      RC11_DZ,0
      RC11_FUNCTION,0
      RC11_MAX,1900
      RC11_MIN,1100
      RC11_REV,1
      RC11_TRIM,1500
      RC2_DZ,30
      RC2_MAX,1983
      RC2_MIN,995
      RC2_REV,-1
      RC2_TRIM,1491
      RC3_DZ,30
      RC3_MAX,1984
      RC3_MIN,994
      RC3_REV,1
      RC3_TRIM,1473
      RC4_DZ,40
      RC4_MAX,1987
      RC4_MIN,993
      RC4_REV,-1
      RC4_TRIM,1490
      RC5_DZ,0
      RC5_FUNCTION,0
      RC5_MAX,1988
      RC5_MIN,987
      RC5_REV,1
      RC5_TRIM,994
      RC6_DZ,0
      RC6_FUNCTION,0
      RC6_MAX,1500
      RC6_MIN,1499
      RC6_REV,1
      RC6_TRIM,1494
      RC7_DZ,0
      RC7_FUNCTION,0
      RC7_MAX,1988
      RC7_MIN,987
      RC7_REV,1
      RC7_TRIM,994
      RC8_DZ,0
      RC8_FUNCTION,0
      RC8_MAX,1500
      RC8_MIN,1499
      RC8_REV,1
      RC8_TRIM,1494
      RCMAP_PITCH,2
      RCMAP_ROLL,1
      RCMAP_THROTTLE,3
      RCMAP_YAW,4
      RELAY_PIN,13
      RELAY_PIN2,-1
      RNGFND_FUNCTION,0
      RNGFND_GAIN,0.8
      RNGFND_MAX_CM,700
      RNGFND_MIN_CM,20
      RNGFND_OFFSET,0
      RNGFND_PIN,-1
      RNGFND_RMETRIC,1
      RNGFND_SCALING,3
      RNGFND_SETTLE_MS,0
      RNGFND_STOP_PIN,-1
      RNGFND_TYPE,0
      RSSI_PIN,-1
      RSSI_RANGE,5
      RTL_ALT,1500
      RTL_ALT_FINAL,0
      RTL_LOIT_TIME,5000
      SCHED_DEBUG,0
      SERIAL0_BAUD,115
      SERIAL1_BAUD,57
      SIMPLE,32
      SR0_EXT_STAT,2
      SR0_EXTRA1,4
      SR0_EXTRA2,4
      SR0_EXTRA3,2
      SR0_PARAMS,50
      SR0_POSITION,2
      SR0_RAW_CTRL,2
      SR0_RAW_SENS,2
      SR0_RC_CHAN,2
      SR1_EXT_STAT,2
      SR1_EXTRA1,2
      SR1_EXTRA2,2
      SR1_EXTRA3,2
      SR1_PARAMS,0
      SR1_POSITION,2
      SR1_RAW_CTRL,2
      SR1_RAW_SENS,2
      SR1_RC_CHAN,2
      STB_PIT_P,5.2
      STB_RLL_P,5.1
      STB_YAW_P,5.7
      SUPER_SIMPLE,0
      SYSID_MYGCS,255
      SYSID_SW_MREV,120
      SYSID_SW_TYPE,10
      SYSID_THISMAV,1
      TELEM_DELAY,0
      THR_ACCEL_D,0
      THR_ACCEL_I,1.1838
      THR_ACCEL_IMAX,800
      THR_ACCEL_P,0.5919
      THR_ALT_P,1.28
      THR_DZ,100
      THR_MAX,1000
      THR_MID,500
      THR_MIN,130
      THR_RATE_P,5
      TRIM_THROTTLE,459
      TUNE,0
      TUNE_HIGH,1000
      TUNE_LOW,0
      WP_YAW_BEHAVIOR,2
      WPNAV_ACCEL,100
      WPNAV_ACCEL_Z,100
      WPNAV_LOIT_JERK,1000
      WPNAV_LOIT_SPEED,500
      WPNAV_RADIUS,200
      WPNAV_SPEED,500
      WPNAV_SPEED_DN,200
      WPNAV_SPEED_UP,200

  8. Thank you for that, I just wish I knew how to get all that info back into my upair. Do I have to go back into the parameter list and actually put in those values or what?If you could tell me what steps to take I would be eternally grateful. I don’t want to press something I shouldn’t this time. As I said I’m a newbie at this and it’s the first attempt on mission planner and probably the last!

    1. Yes, you have to check, and put in all these values manually in your case…

      What happens when you do radio calibration, does mission planner see the radio? when you move the sticks, is that visible on screen?
      Yeah, Mission planner is not to be done as a newbie TBH..

  9. No it doesn’t recognize the sticks at all.As for checking all those values, I would gladly fill them all in but on the config/tuning page I only show a standard parameter list which is nowhere near the length of the list you have sent me.I don’t have a full parameter list on this version of mission planner.

  10. Hi, I have filled in all the values you sent me into the standard parameter list,although most of them are not on my list, I notice it’s version 3 parameters you have sent but my upair is version 2. A lot of the values that were there were actually correct, but as I say I don’t have as comprehensive a list as you supplied. What is the next step to write params? or will these ones not do for version 2?

  11. Hi Olaf, I have managed to get a version of mission planner with the full parameter list and I have input all your parameters. What is the next step to get these on to my drone?

  12. I’m preparing to tune the PIDs since I have the following Problem. Mayby somebody knows which parameters I have to modify….

    My Problem:
    During flight in any direction (full throttle on right stick) after approx. 20 to 30 meters the quad starts to rapidly climbe up without any input from me. After releasing the stick on the controller the quad raises up even more (approx 15 to 20m). When it’s up and came to a stand-still, then it starts do reduce height again down to approx. the level where I started. It looks very much like this is something that can be corrected in Mission Planner by changing the PID settings (seems it’s overshooting) but so far I do not know where to start optimizing.
    If I do the same flight (in any direction) with “low throttle” the quad keeps height and does not climb.

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