I have an “H frame” foldable quad copter.
The distance between the front and rear arms is approx 5 cm longer than the difference the left and right arms.
Is this a paramater that needs to be added to Ardupilot or is it not neccesary?
No need to manually change anything, Autotune will sort out the slightly different ACCEL and PID values.
Apart from the dimensions, you always see Autotune produce different pitch and roll values because of weight distribution - the shape and size of the battery if nothing else…
So it’s no big deal for the difference in your frame.
Even if you manually tuned you might find there’s not much difference between having Pitch and Roll values all the same, or tuned separately.
Thank you very much for the help.