Sorry if this is been answered but I have a basic tuning/autotuning question: Should I be autotuning with my payload installed? Reason being if there are catastrophic issues I’d rather not damage the rather expensive device I’m flying. If I just use the equivelent weight will that serve the same function or do I even need to bother?
With. You just need to find some stuff the weighs the same. maybe a couple of LiPos. Use that.
Or you can autotune without the payload to get the best performance, then change these parameters down to suit the payload. This way you can have one tune and just change 3 params for different payloads (if required)
New ATC_ACCEL_P_MAX = ATC_ACCEL_P_MAX x (min_TOW / max_TOW)
New ATC_ACCEL_R_MAX = ATC_ACCEL_R_MAX x (min_TOW / max_TOW)
New ATC_ACCEL_Y_MAX = ATC_ACCEL_Y_MAX x (min_TOW / max_TOW)
Exact digits and decimal places are not critical, you can just round them down somewhat, so if you calculate the new ATC_ACCEL_P_MAX = 87563.4 just make it 87000