No, currently there is not. It does make some sense, but I would need to look at the code to give you an answer.
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Hi, amilcarlucas!
I’m very appreciative of this awesome guide! But I can’t understand this case: in the file “11_mp_setup_mandatory_hardware.param” ATC_ACCEL_P_MAX,193500. But in the documentation, this range is 0 - 180000. And ATC_ACCEL_P_MAX more than 180000… And the same situation with ATC_ACCEL_R_MAX,193500
Please explain to me why these values are so high. I’m stuck in this step(((
That specific file is for illustration purposes only, read the instructions carefully. I explicitly say to not edit it and to not load it.
There are three such files, that you shouldn’t edit, nor use. I hope you know which three I am referring to. Or should I add another paragraph explaining that a second time in more detail?
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Assuming the innermost angle rate control loop is performing correctly, and that the second level angle control loop is doing OK. Below are the default Loiter parameters, 12.5m/s (LOIT_SPEED) is way too fast for big craft with space constraints for example. what are the recommendations to tune? Just lower the LOIT_SPEED, for example to 250, and leave the rest at it is or users should lower it proportionally, for example including LOIT_ACC_MAX, LOIT_BRK_ACCEL, LOIT_BRK_JERK.
LOIT_ACC_MAX,500
LOIT_ANG_MAX,0
LOIT_BRK_ACCEL,250
LOIT_BRK_DELAY,1
LOIT_BRK_JERK,500
LOIT_SPEED,1250
Do you find 12.5m/s too fast?
What you can do is lower the LOIT parameters, even below the default limits, to suit your preference.
(I also think that LOIT_BRK_DELAY shoyld be set to 0, even all developers are suggesting 0.3 or 0.4 
)
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It really depends on the vehicle and your requirements. But so far we always set LOIT_BRK_DELAY,0.1 or 0. It has to be iteratively tested.
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Looks like you reached file 41. Nice. What do you think of the tune? Does it feel responsive?
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Thank you for your answer. Yes, I know about these three files) I very carefully read your guide. But do we need to make temperature calibration for CubeOrange+ ? I think this calibration was made in factory… Or do I wrong?
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ATC_ACCEL_P_MAX (and other parameters) can be outside of the range for small vehicles or for really big ones. That is not an issue.
No, I talked to a ProfiCNC employee and the calibration is done in the factory, but not saved to the flight controller. So it will not have any effect. So you need to do it again, and save the results to a file like I explained. Then you can even reuse it if you need to reset the parameters at some point.
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Thank you, I will do this calibration!
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Yes, the biggest drone we ever built is a 1.88m wheelbase drone, so in a small country with limited flying space, is too fast.
Seem like from the reply and MP GUI, besides break delay, I should keep the rest to the default value and only bring down the speed and break delay.
Is the outermost position control loop referring to the PSC_n parameters in the image below? MP GUI only exposes these few PSC values, PSC_POSXY_P, ATC_INPUT_TC, PSC_VELXY_D, PSC_VELXY_I, PSC_VELXY_P, PSC_VELXY_IMAX.
In most of our previous drone configurations before this tuning guide, we keep PSC_n to the default values, except PSC_ACCZ_I to 2 x MOT_THST_HOVER, PSC_ACCZ_P to MOT_THST_HOVER.
How common and rare do users need to change these PSC_n parameters? If after autotune, under Loiter flight mode, the drone twitch during mid stick, do we change these PSC_n values? If not, what should we do next? What other possible causes? Will a wrong set of Loiter parameters configuration cause the drone to twitch? The seasoned pilot feels the autotune parameters are okay under alt-hold flight mode for the 23-inch quad 1.2m wheelbase drone.
PSC_ACCZ_D
PSC_ACCZ_FF
PSC_ACCZ_FLTD
PSC_ACCZ_FLTE
PSC_ACCZ_FLTT
PSC_ACCZ_I # 2 x MOT_THST_HOVER
PSC_ACCZ_IMAX
PSC_ACCZ_P # MOT_THST_HOVER
PSC_ACCZ_SMAX
PSC_ANGLE_MAX
PSC_JERK_XY
PSC_JERK_Z
PSC_POSXY_P
PSC_POSZ_P
PSC_VELXY_D
PSC_VELXY_FF
PSC_VELXY_FLTD
PSC_VELXY_FLTE
PSC_VELXY_I
PSC_VELXY_IMAX
PSC_VELXY_P
PSC_VELZ_D
PSC_VELZ_FF
PSC_VELZ_FLTD
PSC_VELZ_FLTE
PSC_VELZ_I
PSC_VELZ_IMAX
PSC_VELZ_P
we shall try these below values with the rest of the PSC values keep to the default except PSC_ACCZ_I and PSC_ACCZ_P. I hope is not due to Limit Cycle Detection issue, currently, all n_SMAX are zero. no other PSC values are mentioned in diatone_taycan_mxc.zip suggested to change.
LOIT_BRK_ACCEL,500
LOIT_BRK_DELAY,0.05
LOIT_BRK_JERK,4000
LOIT_SPEED,250
PSC_VELXY_FF,0.85
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Those are very good questions @Jai.GAY . Thanks. I’ll answer them when I’m back to the office. It’s a lot of questions and I need a proper keyboard (currently mobile 
)
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No, you start with those, test, and then iteratively set the others described in the 41_position_controller.param.
Yes, all PSC_n parameters. Both exposed and not exposed in MP GUI.
Yes, that is what most users need. But if you want performance you do need to tune them properly.
The vehicle will only oscillate in loiter flight mode in rough winds or when autotune did not worked.
Autotune works best with no wind. So my guess is that your autotune did not work well because of this.
Yes, it will.
I appreciate you taking the time to thoroughly understand my questions and the replies. Will set up a new test plan based on your input and test flight when the weather turns good after the country festival season.
on a separate note.
When looking at vibrations in a log the first thing to look at is the clipping. If the clipping is 0 that’s good. That means the vibrations that are being detected aren’t overwhelming the IMU.
Should the users based on the clip or the 30m/s/s (best below 15m/s/s) as the golden rule? It is extremely challenging for a big drone with foldable arms or attachable arms to achieve less than 15m/s/s. We can achieve that for a smaller drone with fixed arms to the drone body.
Hi users
Has anyone used a vibration damper before? how effective to reduce vibrations? What can cause it to get worse?
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@ I appreciate your efforts!!! 
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Users should use BOTH: Below 15m/s/s as the golden rule, and look at clipping. Like I said:
Yes, I agree it is challenging that is why I wrote section1. If you can not solve the challenges, I suggest you find help to do it.
Again section 1. It can be very effective if it is tuned. A vibration damper has a certain elasticity that must have a certain value depending on the mass, and the frequencies you need to dampen.
If that elasticity is incorrect it might amplify the oscillations it is meant to dampen. And so be VERY counterproductive. Again if you can not fix it, get help, there are people that can fix it for you.
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We update and improve the first post on this thread using the feedback of the users.
So we would like to thank you all for your feedback.
I would also like to thank Jan Ole Noack for helping in the formalization of this method during both his Studienarbeit (Student thesis) and Bachelorarbeit (Bachelor thesis) at Ostfalia Hochschule für angewandte Wissenschaften (University for applied Sciences) in Wolfsburg, Germany. He helped in testing, writing, hardware construction, flight testing, brainstorming, streamlining and some more testing. Thanks goes also to Professor Susanne Steiner for guidance and counselling in both thesis.
I would really like to see your edited .param intermediate files (again, excluding the 03_imu_temperature_calibration_results.param , 11_mp_setup_mandatory_hardware.param and 20_inflight_magnetometer_fit_results.param ) in a .zip file.
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Thanks for the extensive guide. I’ve build several Arducopters, but there are lots of things here I hadn’t even heard of!
Just one thing: I really wouldn’t recommend Diatone motors - worst quality I ever had. On 2 out of 4 motors the shaft got pushed in, simply during prop change. I’d suggest replacing them in the list of suggested parts by something like Emax Eco, which are also very budget-friendly and rock-solid (from my experience).
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Thank you both Amilcarlucas andJan Ole Noaak for all the work you put into this and the help you give the community and also a big thank you to the Professor Susanne Steiner for allowing this to be done,amazing work and really appreciated by me,Once again thank’s.
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The quality of our motors seems solid so far, nothing to complain about.
Regardless of that, we recently had issues with the ESC that took one motor out with it and since we can’t get a replacement atm, we are switching to t-motor F1507 3800kv. Testing and quality assessment will be done as soon as they arrive and we’ll update the guide then. And yes, they are bigger and more powerful than the original 1404 motors, but every 1404 motor we can get right now has a 9x9mm mounting pattern, which is too small for the Taycan frame which has a 12x12mm motor mounting pattern.
[Edit] lots of changes of plans.
Emax Eco are a good suggestion, unfortunately they are hard to get in Germany, either with shipping time >1month or not budget-friendly with 21€/motor. [Edit] Also they don’t fit the frame like all the others.
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