Tuning Process Instructions¶
The tuning process consists of the following steps:
Initial tuning flight to obtain a stable, but not necessarily optimized, tune.
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.
ArduCopter has an extremely flexible controller design that has been used with great results on aircraft from 100g to 500kg. 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
Soft vibration dampers
Large payloads on flexible or loose mounts
Rate limited actuators
Extremely aggressive or dynamic flight