# 调参流程说明

调制过程包括以下藜类步骤:

1. **设定参数,为第一批调试飞行做准备**
2. \*\*初调飞行\*\*身分,以获得稳定但不一定优化的调.
3. \*\* 初步稳定调制的评价\*\*
4. 设置 噪声noch过滤器,参见**普通- 最小过滤**
5. **手动调制卷和皮奇**和/或使用**qui**脚本(在尝试使用AUTOTUNE之前需要) !
6. **非洲联盟**.
7. 设置**Input Shaping** parameters to obtain the desired "feel"

The initial tune of the aircraft should be done **in the aircraft's most agile configuration**. This generally means that the aircraft will be at its minimum take off weight with fully charged batteries.

<div class="callout info" id="bkmrk-%E8%AF%B4%E6%98%8E%EF%BC%9Afollowing-each-of">**说明**：

Following each of the above steps will usually result in a safe tuning process and adequate tune for most users. Alternatively consider using the [Methodic Configurator](https://ardupilot.github.io/MethodicConfigurator/) for step-by-step setup

</div>## Advanced Tuning

ArduCopter has an extremely flexible controller design that has been used with great results on aircraft from 100g to 500kg. There are a number of difficult control problems that provide a greater depth of understanding that can be provided here. Some of these issues include:

- High gyro noise levels
- Flexible airframes
- Soft vibration dampers
- Large payloads on flexible or loose mounts
- Rate limited actuators
- Non-Linear actuators
- Extremely aggressive or dynamic flight

*【本页后半部分仍为英文原文摘录，补译中。】*

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*译自 ArduPilot Copter「Tuning Process Instructions」· [查看原文](https://ardupilot.org/copter/docs/tuning-process-instructions.html) · CC BY-SA 3.0*