Difficulties with autotune on a 3 inch quad

ArduCopter Copter 4.6
1

Hello. I need some help here. I used to fly larger drones with no problem, but I recently got into a 3 inch prop size quad with Ardupilot. I just can’t get it into the autotune process, and I think it’s because it’s an unstable frame with a big battery on top. I read the documentation for the first flight and tuning, and I think I didn’t miss any steps. I also tried to set up this guy twice from the beginning, but without success. I’m stuck.
I’m just someone who loves this drone thing and learning.
Can anybody please take a look at the log of one of the last flights and tell me what to do? I’ll be very thankful.
This is my setup:
bqe RIP Squeak v2 frame
Happymodel EX1204 6500KV motors
Two blade HQ 3X3 props
MicoAir743-AIO-35A flight controller with GPS and sensor optical flow
CNHL Black Series 2200mAh 3S 30c battery

Log: https://shorturl.at/JXkQB

Thanks for any advice!

2

Did you use the methodic configurator to setup the quad?

If no then take it from someone that held off until it started to take a toll on my wallet.

Use the software, it is really helpful taught me a ton.

1 Like
3

What ESC’s and what firmware are they using? Got a log that’s not running Auto Tune?
Use Dshot600, configure the Vertical Acceleration controller gains and the Notch Filter.

You are getting thrust loss from something. ESC settings correct for the Motor kV?

RCout
RCout3356×1044 269 KB

4

Looks to be am32 firmware 2.17.

Screenshot_2025-05-22-15-01-37-98_40deb401b9ffe8e1df2f1cc5ba480b12
Screenshot_2025-05-22-15-01-37-98_40deb401b9ffe8e1df2f1cc5ba480b121080×2376 235 KB

5

Ah right, I missed the AIO.