ArduCopter 7" LR Build Video 16 - Initial Tune and Notch Configuration
Initial tune setup using Mission Planner setup wizard (Alt-A). Checking INS_GYRO_FILTER and ATC_RAT_RLL/PIT_FLTD. Check initial PIDs and enable the harmonic notch filter using ESC telemetry. INS_HNTCH_ENABLE set and INS_HNTCH_MODE to ESC telemetry. Make sure harmonic notch ratio of INS_HNTCH_FREQ amd INS_HNTCH_BW is correct. Set INS_HNTCH_REF. Setup INS_HNTCH_OPTS to track individual motors and loop rate. Increase SCHED_LOOP_RATE. Set SERVO_DSHOT_RATE to multiple of loop rate.
See https://discuss.ardupilot.org/t/arduc...