Part 3 - PIDs: Complete ArduPilot Tuning Guide (ArduCopter)

Complete Ardupilot PDF Tuning Guide available here:   / ardupilot-tuning-122779873  
ARDUPILOT COURSE CURRENTLY UNDER CONSTRUCTION: Sign up to be the first to know when it goes live! https://www.aos-rc.com/#ardupilot-tun...
PID Review Tools: https://firmware.ardupilot.org/Tools/...

Timestamps:
0:00 PDF Guide and Tuning Course
0:42 Intro
1:30 Ardupilot's PID Controllers
2:06 Autotune
3:02 Rate PID Controller Schematic
5:31 Proportional Term
6:17 Derivative Term
7:03 P:D balance
8:06 Integral Term
8:53 Feedforward Term
9:49 Derivative Feedforward Term
10:26 Tuning order
12:10 Tuning Flight Tips
13:18 PID Tuning Flight
13:49 Load Log into PID Review
14:30 Time series data
15:42 P:D Balance tuning
17:18 Step response tuning
18:43 Adjust PD balance in MissionPlanner
19:31 Troubleshooting Oscillations
20:50 Increase overall PID Gains
22:53 P:I Balance Tuning
23:48 Yaw Axis Tuning
25:20 Rate PID Tune Complete!
25:53 Tuning Larger Quads with Derivative Feedforward
26:52 Tuning Attitude Controllers
27:17 Attitude Controller Schematic
27:37 Adjusting Attitude PIDs in MissionPlanner
28:14 Logs for tuning Attitude Controller
29:00 Tuning Maximum Acceleration Limits
30:23 Calculating Max Lean Angles
31:33 Setting Max Lean Angles
32:48 Next Steps