ArduCopter 6" Race Build Video 10 - Initial Configuration - Amilcar Soup to Nuts

Configuration by following (roughly)
https://discuss.ardupilot.org/t/how-to-methodically-tune-almost-any-multicopter-using-arducopter-4-4-x/110842

Wizard setup:
BATT_ARM_VOLT,22.1
BATT_LOW_VOLT,21.6
ATC_THR_MIX_MAN,0.1
MOT_BAT_VOLT_MAX,25.2
MOT_BAT_VOLT_MIN,19.8
MOT_THST_HOVER,0.2
MOT_THST_EXPO,0.58

Battery monitor setup:
BATT_AMP_PERVLT,52

Motor configuration:
SERVO1_FUNCTION,35
SERVO2_FUNCTION,34
SERVO3_FUNCTION,33
SERVO4_FUNCTION,36
MOT_PWM_TYPE,6
SERVO_DSHOT_ESC,1
SERVO_BLH_RVMASK,6

Compass configuration and calibration:
CUST_ROT_ENABLE,1
CUST_ROT1_YAW,180
CUST_ROT1_PIT,-28
COMPASS_ORIENT,101
COMPASS_AUTO_ROT,0

Radio calibration:
RC2_REVERSED,1

Flight Modes:
FLTMODE1,1
FLTMODE2,0
FLTMODE3,0
FLTMODE4,0
FLTMODE5,3
FLTMODE6,5

Battery failsafe:
BATT_FS_CRT_ACT,1
BATT_FS_LOW_ACT,0
BATT_FS_VOLTSRC,1
BATT_CAPACITY,1400
BATT_LOW_MAH,280
BATT_CRT_MAH,100

Throttle failsafe:
FS_THR_ENABLE,3

General:
SCHED_LOOP_RATE,800
SERVO_DSHOT_RATE,3
LOG_BITMASK,180223
INS_LOG_BAT_MASK,3
INS_LOG_BAT_LGIN,10
INS_LOG_BAT_OPT,4
MOT_SPIN_ARM,0.01
MOT_SPIN_MIN,0.02

IMU Temp cal:
INS_TCAL1_ENABLE,2
INS_TCAL1_TMAX,60
INS_TCAL2_ENABLE,2
INS_TCAL2_TMAX,60

Harmonic notch:
SERVO_BLH_BDMASK,15
SERIAL5_PROTOCOL,16
INS_GYRO_FILT,180
ATC_RAT_RLL_FLTD,90
ATC_RAT_PIT_FLTD,90
ATC_RAT_YAW_FLTD,45
ATC_RAT_RLL_SMAX,50
ATC_RAT_PIT_SMAX,50
ATC_RAT_YAW_SMAX,50
INS_HNTCH_ENABLE,1
INS_HNTCH_FREQ,40
INS_HNTCH_BW,10
INS_HNTCH_MODE,3
INS_HNTCH_OPTS,22
INS_HNTCH_REF,1

Battery calibration:
Initial PID setup

Final setup:
INS_FAST_SAMPLE,3
INS_GYRO_RATE,2
LOG_FILE_DSMR_ROT,1

Видео ArduCopter 6" Race Build Video 10 - Initial Configuration - Amilcar Soup to Nuts канала Andy Piper