Tuning Process Instructions

The tuning process consists of the following steps:

1. Setting up the parameters to prepare for the first tuning flights
2. Initial tuning flight to obtain a stable, but not necessarily optimized, tune.
3. Evaluation of the initial stable tuning.
4. Manual tuning of Roll and Pitch.
5. AUTOTUNE.
6. Setting the Input Shaping parameters to obtain the desired “feel”

The initial tune of the aircraft should be done in the aircrafts most agile configuration. This generally means that the aircraft will be at its minimum take off weight with fully charged batteries.

Advanced Tuning

ArduCopter has an extremely flexible controller design that can been used with great results on aircraft from 100g to 500 kg. There are a number of difficult control problems that provide a greater depth of understanding that can be provided here. Some of these issues include:

• High gyro noise levels
• Flexible airframes
• Soft vibration dampers
• Large payloads on flexible or loose mounts
• Rate limited actuators
• Non-Linear actuators
• Extremely aggressive or dynamic flight