Add the New QWIKER TUNING option to Copter

[FlyingRobotZA]

Feature request

The QUIKTUNE Lua has been great for fine-tuning in Copter due to its speed. We have used this as a starting point. But it is limited to H7 and more powerful FCs with SD card support. It is also not completely safe and can be dangerous when used with some setups. It also overtunes the drone, which is also bad. The fact that QUIKTUNE uses LOITER flight mode and does not drift during tuning is a positive.

It would be great if we could create a new tuning option for Copter that has the speed and loiter capability of QUIKTUNE and the reliability of AUTOTUNE.

Ideal timing would be under 10 mins. So this can be done in a single flight.

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

@rmackay9 @lthall As discussed at the ArduPilot Developer Conference.

Thank You

[amilcarlucas]

Use Autotune, it works on F4 processors, it's very mature and safe and gives more deterministic and consistent results than quicktune.

[FlyingRobotZA]

Autotune does work. But the speed of QWIKTUNE is much better to get the drone flyable in less than a 2min flight. Plus it works in Loiter so there is zero drift while tuning. Autotune can be used later to refine on each axis.

[lthall]

QWIKTUNE does not stimulate the aircraft during the process and instead relies on noise or external disturbances to excite the oscillation. This means that a low noise aircraft being tuned on a calm day can result in a tune that dangerously oscillates. As such we do not consider this algorithm reliable enough to include in the C code base.

We are considering ways that we can produce a similar capability but this is an ongoing effort.

[FlyingRobotZA]

@lthall As discussed yesterday. I agree, QWIK tune is not safe for all aircraft. Maybe we could change this Feature request to be a better solution. Combining the best of Autotune and speed of QUIKTUNE. Ideally, the goal would be the best Tune possible in under a 10 minute flight.

[peterbarker]

If you're brave you can rebase and run Michelle's branch here: https://github.com/MichelleRos/ardupilot/tree/pr/quicktunecpp