We are working on a senior design project at the University of Arizona Department or Aerospace Engineering. Part of our project utilizes Ardupilot, and we are trying to figure out how to (if its even possible) tune the code to fit a specific airframe dimensions. I believe you would need to add a tab in the Arduino program, just not sure how create the necessary pointer.
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The code doesn't refer specially to dimensions. Just PID gains. There is a page in the wiki that discusses strategies for tuning PID loops. I'd read that closely.
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