Step 24: Tuning
Our tuning method involved a lot of trial and error. We would support 2 opposite corners of the quadrotor leaving the other 2 free to rotate. Then we would check for stability by first observing if the quadrotor was keeping itself level, then secondly by injecting disturbances to observe if it would return to a level position. If the p and d values permitted the quadrotor to pass both of these tests, we would repeat the procedure and on the other axis. When the quadrotor was stable on both axis, we then were ready to fly!