PID tuning an Arducopter APM 2.6 Mini-H quad

Had issues initially getting this tuned because of its small size.  Its a 280mm measured from one motor to the the other diagonally.  Its a clone I made of the “220mm Blackout Mini-H quad“, but the Blackout cant fit 6″ props just 5”.

I used the tie down tuning method like this guy Dave C.

Here are my final values for 6″ props. Test flight in 15mph wind and it flew great and loitered very well!





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