This video is more than you ever wanted about PID tuning for a multirotor. A brief overview of our control scheme is given, followed by a demonstration of tuning a quadcopter on a string and then in the air. Finally, for those interested, a set of simulations are presented to try and give an intuition about the terms.

Also the consequence of having various parameters too high is demonstrated to help users identify tuning problems.

Note: Axis lock is currently not in the packaged version of our software. Should be out shortly though.

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