How "LIGHT" of a vehicle to use MOT_OPTIONS=1 for tuning?

ArduCopter Copter 4.5
1

I noticed this note today about using MOT_OPTIONS=1 to improve tuning for “light” vehicles.

light vehicles
light vehicles1152×864 121 KB

Is this still relevant today? And how light is “light”?

And if “1” is used, then after tuning should this parameter be set back to the default, “0”?

Thanks!

2

No, set to 1 permanently - its a new feature not an old one. The “light” vehicle comment should really be “agile” - with agile vehicles you can have large swings in voltage which the sag compensation can struggle to keep up with and this affects the PIDs negatively.

2 Likes
3

The default setting of MOT_OPTIONS is “0”. It was just by chance that I caught the sentence in the wiki about setting it to “1”. My guess is that most people don’t make the change.

Should “1” be the default for MOT_OPTIONS?

Then in the wiki, we might need to mention about maybe setting it to “0” for “heavy” vehicles.