Timeline:
0:00 intro
0:31 The Airblade Transformer light weight long range 4 inch copter
1:15 Using autolevel (angle) mode in basement tuning step tests
3:38 Tuning results: PD balance tests
4:28 Tuning results: Master Multiplier tests
4:47 How to spot PID gain related oscillation
7:20 Optimizing the Roll to Pitch ratio
8:08 Tuning Feedforward
12:53 Final remarks about Iterm and final PIDFs

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