Quadcopter PID Tuning - Ardupilot

1. Objective To achieve stable, responsive, and smooth flight of the quadcopter by professionally tuning the PID controllers (no oscillations, wobbles, overshoot, or drift). 2. Object Quadcopter [frame size 10] running ArduPilot, 3. Requirements The contractor must provide a complete step-by-step PID tuning instruction specifically for ArduPilot. Mandatory use of Blackbox logs (or ArduPilot log analysis tools — Mission Planner / MAVExplorer) for analysis. Prerequisites: proper CG, gyro/accel calibration, up-to-date firmware, correctly configured filters and notch filters. 4. Scope of Work The step-by-step instruction must cover: Drone preparation and filter setup (Harmonic Notch, etc.). Loading safe baseline PID values. Tuning per axis (Roll → Pitch → Yaw). Adjustment of PID, FF (Feed Forward), I-term, D-term, and other parameters (ATC_ parameters). Final testing and fine-tuning in different flight modes. Log analysis and recommendations. 5. Acceptance Criteria Stable flight without visible oscillations in Acro/Stabilize modes. Good stick response and control feel. Clean logs with minimal error. Final PID parameters + full step-by-step guide provided.