Here's a video, of my stock DJI F450 frame quad tethered to a plywood slab in my basement - where I'm learning to fly in different orientations in stab mode. Tether saves me from heavy fingers while learning, simply too much blizzard outdoors to fly there these days,
The tether was nylon string attached to bottom of quad. I'm tuning the stock APM params now - so far, I've done these ,,,
Non-default PIDs I've changed so far
Once I can circumnavigate the plywood on the floor, stopping to hover over each corner for a few seconds - and I can do this in all 4 yaw orientations - without pulling the string taught - then I can untether the quad in my basement,
Here's a pic of my setup - stock DJI F450 frame, ESCs and motors; 3DR APM 2.5 with PM, 3DR sonar (mounted on balsa spanning two white arms - the front), Castle 10A BEC, a loud and visual low battery indicator, and a lot of hope. Using a 5800 3s Zippy LiPo - getting 20 min flights with this setup.
And here's my Z accel data ,,,