How to methodically configure and tune any ArduCopter

@Peterarnold it seams to me like you did not yet understood the method. Please read section 2 again, and if something is still not clear, ask.

ArduPilot automatically updates the Parameter values inside the FC when you do a Firmware update.

After that you can reload the 4.5.0 with the “compare” technique to find out exactly which parameter automatically changed with the 4.6.0 update. Then do not write the old parameter to the FC, instead edit the old 4.5.0 file. And that is it, the algorithm to update old 4.5.0 intermediate parameter files to a newer version.

Without a .bin log file we can only speculate.

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They are errors on the flight controller side of the IOMCU link. There not general errors. Would need to look at the log, but 2 is probably not a issue.

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From my reading the parameter files hold the setting for your Diatone Taycan, and if using them for a completely different machine then files 04 to 10 need to be edited to reflect the new hardware??
Q1 To avoid mistakes changing the above settings from a 3 inch quad to something else e.g., a 26" Hex, could a set of parameter files with the default setting be made available as the starting point? If you overlooked a parameter then it would stay at the default instead of a 3" quad which may avoid some grief later.

Thanks for the tip when updating the firmware.
Q2 When a new firmware is officially release ‘if and if so where’ is there a list of changes published? I ask as I not sure where to find that.

Yes, all provided intermediate .param files need to be edited to meet your needs, but files:

  • 03_imu_temperature_calibration_results.param → generated by the IMU_calibration script,
  • 11_mp_setup_mandatory_hardware.param → generated by Mission Planner and,
  • 20_inflight_magnetometer_fit_results.param → generated by the MagFit webtool

are provided for illustrative purposes only. You will generate new files locally at your computer and do not need to edit the ones we provide.

The best way to avoid mistakes is to carefully do the steps one by one and edit the files properly.
Do not overlook any parameters, the documentation for them is on the file, you do not even need to switch windows to go hunt for documentation, it is all there on the file.

The MAIN issue users have is using default parameters instead of properly configuring the system.
Default values depend on: the FC you use, the options you compiled in, the version you use and so on. I can not provide you with default files because they would not be the same for everyone.
But you can get the default values of all parameters on your particular system, just use the provided script on one of your .bin log files.

The list of changes is published and it is called the changelog, or Release notes. They are included in every release announcement.

Thanks for the feedback.


Thank you.
I want to write new log file, but now too windy. I additionally checked all my settings for it. My previous log files too large(

Aleksandr Shunin


Thank you.
I want to write new log file, but now too windy. I additionally checked all my settings for it. My previous log files too large for sending(

That is normal that logs are too big to upload directly, you have to share your logs through a filesharing service, for example Google drive, Dropbox, WeTransfer, etc.
These services provide a link to your file that you can post here. Just make sure it is not set to ‘private’ so we can access the file.

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@amilcarlucas i have 2 pending projects that I need help with. The last line you said there are people who can help. How do I get In touch and what’s the procedure if you could let me know


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We at IAV GmbH can help you.


I have sent you a msg regarding the same in your personal msg could you have a look


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I edited the post to explain that the provided .param files in the file contain information that is not in the first Blog post text.

I hope this makes it clearer that you NEED to use the files in order to understand which parameters to change and how to change them.


Hey friends!
Today the weather finally cleared up. I double-checked all the settings and tried to take off several times. This time around, no errors CPU, the CPU load effect dropped to a maximum of 70% at its peak, down from the previous 100%. However, the hexacopter’s behavior changed. Roll control is very sluggish and takes a long time to recover, despite going through auto-tuning before. I’m attaching my logs and settings, really hoping for some help from the experts. Please assist in identifying any issues with the settings.
Configuration: hexa, 13’', motors 4215 650 kV, CubeOrange+, Here4, frame Tarot 680, power 6s.

current_param.param (22.0 KB)

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Whose ESC? Flash Hobby D4215 650KV motor motor performance chart?
CubeOrange+ better than CubeOrange hit 100% CPU load previously, interesting.

Hi Jai.GAY!
ESC: FLYCOLOR RAPTOR5 BLHeli-32 ESC 3-6S 45A. Last firmware. Motor: Бесколлекторный мотор Flymod Gravity 4215 650KV купить - Интернет магазин по квадрокоптерам в Украине.


In the file 05_remote_controller.param there is a setting RC9_OPTION,300 for a script for that in the notes says “jump to the next waypoint.” Can you share that script or point me in it’s direction? Thanks!

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This is for the advance-wp.lua script by Yuri from this post: Scripted MagFit flightpath generation


Awesome! Thanks. I didn’t make that connection.

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Hey amilcarlucas!

I’ve managed to replicate the scenario during flight where the CPU load hit 100%, and two errors were recorded in the process. Here’s the link to my log file: 00000091.BIN - Google Drive Could you please help me figure out this issue? I’m at my wits’ end here, struggling to pinpoint the errors I’m making on my own. Here’s my configuration: frame Tarot 690, props 13’', motors 4215 650 kV, CubeOrange+, Here4, power 6s, esc FLYCOLOR RAPTOR5 45A BLHeli-32 3-6S
There is my all params:
current_param.param (22.0 KB)

In advance, thank you to you and everyone who can help me tackle this issue!

Why is your ATC_RAT_XXX_FLTT not using 17 by the initial parameters, instead of 57.5? also for the INS_GYRO_FILTER, MOT_THST_EXPO.

MOT_THST_HOVER 0.635, looks like under propulsion combination, ideal is 0.35 and below. In my opinion, I may be wrong.

SERVO1_FUNCTION,33, Digital ESC, why are the motor ports connected to Analog Main ports and not Aux ports? I expect SERVO9_FUNCTION,33, SERVO10_FUNCTION,34, and onwards. MOT_PWM_TYPE, DShot300, I cannot find any claim saying the ESC supports DShot300, you may have to double confirm it. Also for SERVO_DSHOT_ESC, BLHeli32/Kiss+EDT.

looks like you have script file running, SCR_ENABLE,1, cause the CPU 100%? Do you want to try disabling it first?