The problem is variable weight, if I’ll make autotune with empty tank it will fly well but only with empty tank, with full tank unstable.
If I’ll make autotune with full tank and try to launch it with empty it will be fully uncontrollable, it will set huge throttle as he thinks he’s heavy…
So how to deal with variable weight during flight? (for example package drop)
Any other suggestions what to charge for huge drone 20+kg