Uploaded March 2025 | Updated September 2026, 2 weeks ago

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Complete Ardupilot PDF Tuning Guide available here: patreon.com/posts/ardupilot-tuning-122779873

ArduPilot Tuning Course available here: aos-rc.thinkific.com/products/courses/ardupilot-tuning-for-multicopters
Learn more here: aos-rc.com/courses/ardupilot-tuning

Free course for hobbyists: youtube.com/playlist?list=PLFPBjpbd5xKSGFJfuQJBPWOm-sGv0VxD1

Timestamps:
0:00 Get the full guide as a pdf!
0:30 Intro
1:46 Setup your logging
4:01 Setup your Harmonic Notch Filters
5:38 Setup bi-directional D-Shot for RPM filtering
9:24 Test hover!
9:43 Download the log file
11:03 Double check your RPM data!
13:12 What is the Dynamic FFT?
14:43 Setup the dynamic FFT
16:40 Test flight number 2
17:12 Filter review tool
17:51 IMU Spectrum
18:47 Why do we need the Gyro Low Pass Filter?
20:46 What is the Gyro Low Pass Filter?
22:09 Tuning the Gyro Low Pass Filter
23:04 Harmonic Notch Filtering
24:29 Visualising the noise power
24:49 Key features of the noise plot
26:45 Checking RPM based filtering
27:40 How many harmonics do you need?
28:48 Checking the effectivness of the RPM notches
29:18 Improving RPM filtering
30:18 Multi-Source RPM filtering
32:12 The effect of Multi-source RPM based filtering
32:57 HNTCH_FREQ - Tuning the RPM filters
33:52 HNTCH_BW - Tuning the RPM filters
34:50 Driving notches with Dynamic FFT
35:57 FFT vs RPM
37:47 FFT for Frame Resonance 😁
40:00 FFT Harmonic Notch settings for Frame Resonance
42:57 FFT for motor noise 👎
44:31 FFT Harmonic Notch settings for Motor Noise
45:49 Tuning FFT based harmonic notches
46:52 Static and Throttle Notches
48:34 Final tuning of the Gyro Low Pass Filter
50:33 Next steps