ArduCopter Analytic Tune Tool

Setup

FFT Settings

Window size

Analysis time Start (s)

End (s)

System ID Runs

Flight Data

WARNING - Parameter values are not updated if they changed during the log. If parameters were changed during the flight, be sure to verify the values below.

INS Settings

Gyro Sample Rate

First Notch Filter

Second Notch Filter

Loop Rate

Attitude Controller Parameters

Attitude Controller Notch Parameters

Throttle Based

Throttle

ESC Telemetry

Number of Motors

ESC RPM

RPM/EFI Based

RPM1

RPM2

Calculated vs. Predicted Comparison

Graph Settings

Control Loop Bare Aircraft Use Attitude to Improve Coherence
Rate Controller
Attitude Controller with Feedforward
Attitude Controller without feedforward
Input Shaping
Attitude Disturbance Rejection
Rate Stability
Attitude Stability
Entire System Stability

Gain scale dB
Linear

Phase scale un-wrapped
±180

Frequency scale

Log
Linear

Hz
Rad/s