PID review tool - understanding PID Spectrogram and Frequency Domain

ArduCopter Copter 4.6
1

I’ve had some good success manually tuning PID gains using the ArduPilot Web Tools “PID Review” web page.

The only instructional information for the PID Review Tool that I found was Chris Rosser’s recent YouTube tutorial series on Arudpilot tuning - which was enough to get me started, but isn’t comprehensive.

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Two elements of this tool I’d like to learn how to use is the “PID Spectrogam” and the “Frequency Domain” charts.

Rosser’s tutorial focused on the “Time Domain” charts - that was helpful. The “Step Response” chart is a standard process control analysis tool - so I was able to learn how to use it from on-line resources.

I’ve not found much to help my understanding of the “PID Spectrogram” and “Frequency Analysis” charts.

If there are material available, I would greatly appreciate suggestions for references.

Here’s the BIN I used for the charts I’ve included:

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