AM32 on ArduPilot Part 6 - Zero to Acro
Apologies for the mic, it's rubbish! I need a better dead cat.
Parameters I changed (from memory):
RC9_OPTION, 31 - Estop
RC10_OPTION, 17 - Autotune
AUTOTUNE_AXES, 3 - Roll and Pitch
AUTOTUNE_AGGR, 0.075
AUTOTUNE_MIN_D, 0.0003
ACRO_TRAINER, 0 - do flips
ACRO_OPTIONS, 1 - air mode
ATC_THR_MIX_MAN, 1 - prioritize attitude