Autotune, Yaw vs Yaw-D?

ArduCopter
1

I completed Yaw… Now tried yaw-d it seems to be the same thing. Anyone knows what is the difference between the two? Thanks in advance.

2

The Yaw-D Autotune, which modifies ATC_RAT_YAW_D, will potentially give tighter yaw attitude control especially for smaller motors and props that dont have a lot of torque.
It’s not entirely necessary, but can help.

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3

Exactly what I need for a small drone. Just wonder why the info it wasn’t on the wiki .

Thanks for the details.

4

The ArduPilot methodic configurator software and the accompanying Blog post mention this autotune step and explain how to get the most out of it.

As a user you can always choose to use the ArduPilot methodic configurator and get the best possible tuning.

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