ADVANCED TUNING
Master the frequency domain. Learn how to use System Identification (SysID), AutoTune, and Harmonic Notch Filters to achieve lock-in flight performance.
Advanced Tuning
Frequency Domain Analysis
In advanced tuning, we stop thinking of the drone as a time-domain machine (reacting to inputs) and start thinking of it in the **Frequency Domain*...
System Identification (SysID)
System Identification (SysID) is an engineering method to build a mathematical model of a physical system by stimulating it with known inputs and m...
AutoTune Logic
AutoTune is a state machine that iteratively tunes the PID controller by injecting "Twitches" (step inputs) and measuring the vehicle's response. I...
Harmonic Notch Filtering
Propeller noise is the enemy of good tuning. It injects high-frequency vibration into the gyro signal, which the D-term amplifies, causing hot motors.
Input Shaping & Jerk Limiting
Input Shaping (often called "S-Curves" in the CNC world) transforms a square-wave pilot input into a smooth, kinematically feasible curve. This pre...