I did some modifications to the core flight controller and am trying to record (repeatable) step reponses (in roll and pitch) for the SingleCopter I built. What is the best way to do this?
Lua scripting: I tried putting the copter into guided non gps mode (as it has no gps) and sending angle targets using vehicle:set_target_angle_and_climbrate(…) depending on a switch position on the remote control. This does not seem to work.
Another possibility would be to use autotune but I’m not sure if the implemented algorithm uses steps to determine the optimal controller gains. This also seems a little hacky.
Any suggestions would be highly appreciated