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Tuning a Custom Nano-Quadcopter Controller

Babadook · 2024-12-02T04:01:33+0000

What is the best way to tune a quadcopter PID controller? I designed a custom quadcopter. I cannot get it to hover. The firmware is here. https://github.com/mbardwell/nano-quadcopter Photos and videos of the quadcopter attached. Its dry weight is 175g and runs off a 75g 2S battery. 1303 5000kV motor. 3" Two-Blade. I am looking through the ArduPilot repo for inspiration, but I hope someone might be able to point out an obvious flaw in the mean time. I have spent many hours trying to tune the controller by eye. I would like to think that one of the parts needs to be changed in order to make this work. 20241201-Quadcopter.zip