AUTOTUNE of large hexacopter with unusual dimensions

Cube Autopilot
1

Dear All,
I’m trying to fit Pixhawk cube on a octa copter made by Joyance tech (http://www.wecanie.com/uploads/sprayer/JT15L-608-Pro/15L_agriculture_spraying_drone_015.jpg), i would like to convert this frame into a hexa copter for heavy lift purpose.
so, my query is, can i perform AUTOTUNE on that hexa copter?, the inertia’s will be different as the roll arms are longer than pitch, can ardupilot code be able to tune this kind of a design?

2

It tunes pitch and roll seperately, so yes, that’s not a concern

3

@philip Thanks for the reply, i’ll setup and try to do AUTOTUNE and will post the observations.