ive finished harmonic notch and autotune in my copter and i had a couple of questions of finalizing the copter.
i have a payload of 2KG (camera and gimbal) on a 8 kg frame . i did the autotune with out gimbal camera, docs write i should change these : ATC_ACCEL_P_MAX x (min_TOW / max_TOW) ATC_ACCEL_R_MAX x (min_TOW / max_TOW) ATC_ACCEL_Y_MAX x (min_TOW / max_TOW)
But ill always have the camera +gimbal on . Should i do the above or try an other autotune with the gimbal on ?
Should i disable MOT_HOVER_LEARN ?
i dont care about ground speed but for endurance are there any settings i could tinker with to “preserve” battery ?
Change the ACCEL params as per above, don’t try to run Autotune with the gimbal attached.
I would leave the hover learn set as per default (learn and save) in case you change anything else, for example battery packs.
Do some long straight flights at different speeds, check logs to see what might be the most efficient comparing speed and current draw) and set that as your WPNAV_SPEED and RTL_SPEED.
You can also set LOIT_SPEED to this, or maybe a bit above to allow for some extra speed when needed.
For maximum or less controlled speeds use AltHold.
I think you didnt read correctly or i didnt write it correctly.
Please let me rephrase .
I want to put a second battery for good on the drone which will add an other 2.6 kg . is it a good idea to autotune again ? (with out the gimbal ). i had one battery for testing and now i feel confident to install also the second .