Stability and fine tuning

  1. It is perfect when it followed all the steps on MethodicConfigurator/QUICKSTART.md at master · ArduPilot/MethodicConfigurator · GitHub including section 1.1 of How to methodically configure and tune any ArduCopter that will give you a good gain margin and phase margin as defined in control theory. Pilot fell might be dumbed down using some TC parameters, but the vehicle should be snappy to cope with the wind (noise disturbance rejection).

  2. Also explained in the How to methodically configure and tune any ArduCopter section 3.1

  3. Makes no sense in tuning it further without first having the basics described above covered.