I am starting this thread for people to propose a default parameter set for sub 250 sized aircraft. This should make it much easier for small multirotors to be set up using ArduPilot.
I would like as many people as possible to post what they believe is the important parameters to change to get good performance from this class of multirotor.
I will put the parameters we have settled on below:
ACRO_BAL_PITCH
ACRO_BAL_ROLL
ACRO_RP_EXPO
ACRO_RP_P
ACRO_THR_MID
ACRO_TRAINER
ACRO_Y_EXPO
ACRO_YAW_P
ATC_ACCEL_P_MAX
ATC_ACCEL_R_MAX
ATC_ACCEL_Y_MAX
ATC_ANG_LIM_TC
ATC_ANG_PIT_P
ATC_ANG_RLL_P
ATC_ANG_YAW_P
ATC_ANGLE_BOOST
ATC_INPUT_TC
ATC_RAT_PIT_D
ATC_RAT_PIT_FF
ATC_RAT_PIT_FLTD
ATC_RAT_PIT_FLTE
ATC_RAT_PIT_FLTT
ATC_RAT_PIT_I
ATC_RAT_PIT_IMAX
ATC_RAT_PIT_P
ATC_RAT_RLL_D
ATC_RAT_RLL_FF
ATC_RAT_RLL_FLTD
ATC_RAT_RLL_FLTE
ATC_RAT_RLL_FLTT
ATC_RAT_RLL_I
ATC_RAT_RLL_IMAX
ATC_RAT_RLL_P
ATC_RAT_YAW_D
ATC_RAT_YAW_FF
ATC_RAT_YAW_FLTD
ATC_RAT_YAW_FLTE
ATC_RAT_YAW_FLTT
ATC_RAT_YAW_I
ATC_RAT_YAW_IMAX
ATC_RAT_YAW_P
ATC_RATE_FF_ENAB
ATC_RATE_P_MAX
ATC_RATE_R_MAX
ATC_RATE_Y_MAX
ATC_SLEW_YAW
ATC_THR_MIX_MAN
ATC_THR_MIX_MAX
ATC_THR_MIX_MIN
AUTOTUNE_AGGR
AUTOTUNE_AXES
AUTOTUNE_MIN_D
INS_ACCEL_FILTER
INS_GYRO_FILTER
INS_HNTCH_ATT
INS_HNTCH_BW
INS_HNTCH_ENABLE
INS_HNTCH_FREQ
INS_HNTCH_HMNCS
INS_HNTCH_REF
LOIT_ACC_MAX
LOIT_ANG_MAX
LOIT_BRK_ACCEL
LOIT_BRK_DELAY
LOIT_BRK_JERK
LOIT_SPEED
MOT_BAT_CURR_MAX
MOT_BAT_CURR_TC
MOT_BAT_IDX
MOT_BAT_VOLT_MAX
MOT_BAT_VOLT_MIN
MOT_BOOST_SCALE
MOT_HOVER_LEARN
MOT_PWM_MAX
MOT_PWM_MIN
MOT_PWM_TYPE
MOT_SAFE_DISARM
MOT_SLEW_DN_TIME
MOT_SLEW_UP_TIME
MOT_SPIN_ARM
MOT_SPIN_MAX
MOT_SPIN_MIN
MOT_SPOOL_TIME
MOT_THST_EXPO
MOT_THST_HOVER
MOT_YAW_HEADROOM
PILOT_ACCEL_Z
PILOT_SPEED_DN
PILOT_SPEED_UP
PILOT_THR_BHV
PILOT_THR_FILT
PILOT_TKOFF_ALT
PSC_ACC_XY_FILT
PSC_ACCZ_D
PSC_ACCZ_FF
PSC_ACCZ_FLTD
PSC_ACCZ_FLTE
PSC_ACCZ_FLTT
PSC_ACCZ_I
PSC_ACCZ_IMAX
PSC_ACCZ_P
PSC_ANGLE_MAX
PSC_POSXY_P
PSC_POSZ_P
PSC_VELXY_D
PSC_VELXY_D_FILT
PSC_VELXY_FILT
PSC_VELXY_I
PSC_VELXY_IMAX
PSC_VELXY_P
PSC_VELZ_P
WP_NAVALT_MIN
WP_YAW_BEHAVIOR
WPNAV_ACCEL
WPNAV_ACCEL_Z
WPNAV_RADIUS
WPNAV_SPEED
WPNAV_SPEED_DN
WPNAV_SPEED_UP