[1]
https://ardupilot.org/plane/docs/new-roll-and-pitch-tuning.html
This page says manual tune is for the vehicle that can’t be tuned by autotune.
but I wonder whether if experts do manual tune by themselves after autotune.
there is many aircraft setup and autotune does not change position PID, so I wonder experts changes position PID, for well-controlling vehicles.
[2]
https://ardupilot.org/copter/docs/ac_rollpitchtuning.html
I looked throught this page, but It says P term is same with I term, but some of multicopters have smaller I terms than P terms.
is there any detailed documentation of the tuning process of I terms?
[3]
and there is no need for tuning at acro mode? the page only says about tuning in the stabilize mode. is acro mod PID same for small~big copters?
[4]
I guess Stabilize Roll, Pitch, Yaw in “Extended tuning” page is for the conversion of transmitter value to Rate controller.
is that right?
https://ardupilot.org/dev/docs/apmcopter-programming-attitude-control-2.html
I read through this page,
but couldn’t figure out each PID value’s purpose explanation.
for example, ATC_RAT_PIT_D, ATC_RAT_RLL_P, ATC_ACCEL_XXX, ATC_ANG_XXX
I made my own assumptions about the differences between Rate, Angle, and Acceleration but couldn’t find detailed documentation explaining these aspects. If possible, could anyone guide me to a more comprehensive explanation or provide further details on these parameters?
It will be better to have detailed documentation of this parameter’s relations