Hi,
I am not getting the tune to work on a large, 90kg quadcopter. Linked is the bin file from one test. I managed to keep it hovering about 1m above ground with a lot of control input. I have lowered the PIDs a lot but it is still struggling.
It is a large 3m diameter X-quad with 51" props, KV44. 4 x 24S batteries are strapped to the arms so there is a lot of weight far from the center of gravity. Arducopter v4.4.4
Any suggestions on how to change the PIDS?