@chiarls - based on the specs you supplied and some simple scaling, here are some settings you might try. You’ll need to adjust all the <multiplier> elements in the ArduPilot plugin and the <area> and <cp> elements in all the lift-drag plugin entries (retaining the existing signs). That may give you an initial set up that will let you tune the copter. Let us know how you get on as I’d be interested to know how well the config works.
| Iris | E2000 | |
|---|---|---|
| prop | 10 x 4.7 | 21 x 7 |
| prop diameter | 254 mm | 533 mm |
| <area> [1] | 0.002 | 0.008 |
| <cp> [2] | 0.084 0 0 | 0.168 0 0 |
| motor kV | 850 | 130 |
| battery voltage | 11.1 | 52.2 |
| rpm max | 9435 | 6786 |
| ang vel max | 988 rad/s | 710 rad/s |
| <multiplier> [3] | 838 | 602 |
- Scaling prop area by 2 * 2
- Scaling prop diameter by 2
- Using a multiplier of approx. 85% ang vel max.