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
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...
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*...
Harmonic Notch Filtering
Propeller noise is the enemy of good tuning. It injects high-frequency [vibration](/field-manual/log-analysis/vibration-analysis.html) into the gyr...
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...
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...
Total Energy Control System (TECS)
The Total Energy Control System (TECS) replaces classical independent [altitude](/field-manual/mavlink-interface/altitude.html)/airspeed PID loops ...