How to manualy tune the ATC_RAT_*_FF parameters in multicopters

[amilcarlucas]

The pages:

• https://ardupilot.org/dev/docs/apmcopter-programming-attitude-control-2.html
• https://ardupilot.org/copter/docs/tuning.html
• https://ardupilot.org/copter/docs/tuning-process-instructions.html
• https://ardupilot.org/copter/docs/autotune.html

provide great resources for tuning multicopters, but I have not found any method nor step-by-step instructions on how to tune the ATC_RAT_*_FF parameters.
I’m hoping the the direct feed-forward will help me achieve better precision during vision-based precision landing.

Can someone help me out? I’m using Copter 4.0.4-rc3

[kuspower]

I try to tune 100kg quaadcopter and I also would like to know how to use the feed forward controler.

Can someone explain?

[amilcarlucas]

I still can not tell you how to configure the rate FF parameters.

But I wrote a Blog post explaining how to methodically tune the copter from scratch with as few iteration flights as possible