ardupilot-methodic-configurator 2.4.0__py3-none-any.whl → 2.6.0__py3-none-any.whl

ardupilot_methodic_configurator/frontend_tkinter_usage_popup_window.py

@@ -14,8 +14,8 @@ import tkinter as tk
 
 # from logging import debug as logging_debug
 # from logging import info as logging_info
-from platform import system as platform_system
 from tkinter import BooleanVar, ttk
+from typing import Callable
 
 from ardupilot_methodic_configurator import _
 from ardupilot_methodic_configurator.backend_filesystem_program_settings import ProgramSettings
@@ -23,12 +23,15 @@ from ardupilot_methodic_configurator.frontend_tkinter_base_window import BaseWin
 from ardupilot_methodic_configurator.frontend_tkinter_rich_text import RichText
 
 
-class UsagePopupWindow:
+class PopupWindow:
     """
-    A class for creating and managing usage popup windows in the application.
+    Base class for creating and managing popup windows in the application.
 
-    This class extends the BaseWindow class to provide functionality for displaying
-    usage popups with instructions and options to show them again or dismiss.
+    This class provides common functionality for popup windows including:
+    - Window setup and positioning
+    - "Show again" checkbox management
+    - Window cleanup and parent re-enabling
+    - Platform-specific behavior (Windows vs. other OS)
     """
 
     def __init__(self) -> None:
@@ -36,22 +39,28 @@ class UsagePopupWindow:
 
     @staticmethod
     def should_display(ptype: str) -> bool:
+        """Check if the popup should be displayed based on user preferences."""
         return ProgramSettings.display_usage_popup(ptype)
 
     @staticmethod
-    def display(  # pylint: disable=too-many-arguments, too-many-positional-arguments
-        parent: tk.Tk,
-        usage_popup_window: BaseWindow,
+    def setup_window(
+        popup_window: BaseWindow,
         title: str,
-        ptype: str,
         geometry: str,
         instructions_text: RichText,
     ) -> None:
-        usage_popup_window.root.title(title)
-        usage_popup_window.root.geometry(geometry)
-
+        """Set up the basic window properties and add the instructions text."""
+        popup_window.root.title(title)
+        popup_window.root.geometry(geometry)
+        instructions_text.config(borderwidth=0, relief="flat")
         instructions_text.pack(padx=6, pady=10)
 
+    @staticmethod
+    def add_show_again_checkbox(
+        popup_window: BaseWindow,
+        ptype: str,
+    ) -> BooleanVar:
+        """Add a 'Show this usage popup again' checkbox and return its variable."""
         show_again_var = BooleanVar()
         show_again_var.set(True)
 
@@ -59,31 +68,138 @@ class UsagePopupWindow:
             ProgramSettings.set_display_usage_popup(ptype, show_again_var.get())
 
         show_again_checkbox = ttk.Checkbutton(
-            usage_popup_window.main_frame,
+            popup_window.main_frame,
             text=_("Show this usage popup again"),
             variable=show_again_var,
             command=update_show_again,
         )
         show_again_checkbox.pack(pady=(10, 5))
+        return show_again_var
+
+    @staticmethod
+    def finalize_window_setup(popup_window: BaseWindow, parent: tk.Tk, close_callback: Callable[[], None]) -> None:
+        """Finalize window setup: center, make topmost, disable parent, set close handler."""
+        BaseWindow.center_window(popup_window.root, parent)
+        popup_window.root.deiconify()  # Show the window now that it's positioned
+        popup_window.root.attributes("-topmost", True)  # noqa: FBT003
+        popup_window.root.grab_set()  # Make the popup modal
+
+        popup_window.root.protocol("WM_DELETE_WINDOW", close_callback)
+
+    @staticmethod
+    def close(popup_window: BaseWindow, parent: tk.Tk) -> None:
+        """Close the popup window and re-enable the parent window."""
+        popup_window.root.grab_release()  # Release the modal grab
+        popup_window.root.destroy()
+        parent.focus_set()
+        parent.lift()
+
+
+class UsagePopupWindow(PopupWindow):
+    """
+    A class for creating and managing usage popup windows with a Dismiss button.
+
+    This class extends PopupWindow to provide informational popups with instructions
+    and options to show them again or dismiss.
+    """
+
+    @staticmethod
+    def display(  # pylint: disable=too-many-arguments, too-many-positional-arguments
+        parent: tk.Tk,
+        usage_popup_window: BaseWindow,
+        title: str,
+        ptype: str,
+        geometry: str,
+        instructions_text: RichText,
+    ) -> None:
+        """Display a usage popup with a Dismiss button."""
+        # Hide the window until it's properly positioned
+        usage_popup_window.root.withdraw()
+
+        # Set up the window
+        PopupWindow.setup_window(usage_popup_window, title, geometry, instructions_text)
 
+        # Add show again checkbox
+        PopupWindow.add_show_again_checkbox(usage_popup_window, ptype)
+
+        # Add dismiss button
         dismiss_button = ttk.Button(
             usage_popup_window.main_frame,
             text=_("Dismiss"),
-            command=lambda: UsagePopupWindow.close(usage_popup_window, parent),
+            command=lambda: PopupWindow.close(usage_popup_window, parent),
         )
         dismiss_button.pack(pady=10)
 
-        BaseWindow.center_window(usage_popup_window.root, parent)
-        usage_popup_window.root.attributes("-topmost", True)  # noqa: FBT003
+        # Finalize window setup
+        PopupWindow.finalize_window_setup(usage_popup_window, parent, lambda: PopupWindow.close(usage_popup_window, parent))
 
-        if platform_system() == "Windows":
-            parent.attributes("-disabled", True)  # noqa: FBT003  # Disable parent window input
 
-        usage_popup_window.root.protocol("WM_DELETE_WINDOW", lambda: UsagePopupWindow.close(usage_popup_window, parent))
+class ConfirmationPopupWindow(PopupWindow):
+    """
+    A class for creating confirmation popup windows with Yes/No buttons.
+
+    This class extends PopupWindow to provide confirmation dialogs that
+    return a boolean result based on user's choice.
+    """
 
     @staticmethod
-    def close(usage_popup_window: BaseWindow, parent: tk.Tk) -> None:
-        usage_popup_window.root.destroy()
-        if platform_system() == "Windows":
-            parent.attributes("-disabled", False)  # noqa: FBT003  # Re-enable the parent window
-        parent.focus_set()
+    def display(  # pylint: disable=too-many-arguments, too-many-positional-arguments
+        parent: tk.Tk,
+        usage_popup_window: BaseWindow,
+        title: str,
+        ptype: str,
+        geometry: str,
+        instructions_text: RichText,
+    ) -> bool:
+        """
+        Display a confirmation popup with Yes/No buttons.
+
+        Args:
+            parent: Parent Tk window
+            usage_popup_window: BaseWindow instance for the popup
+            title: Window title
+            ptype: Type identifier for the popup (used for "show again" setting)
+            geometry: Window geometry string (e.g., "600x220")
+            instructions_text: RichText widget containing the confirmation message
+
+        Returns:
+            bool: True if user clicked Yes, False if user clicked No
+
+        """
+        # Hide the window until it's properly positioned
+        usage_popup_window.root.withdraw()
+
+        # Set up the window
+        PopupWindow.setup_window(usage_popup_window, title, geometry, instructions_text)
+
+        # Add show again checkbox
+        PopupWindow.add_show_again_checkbox(usage_popup_window, ptype)
+
+        # Create result dictionary to capture user's choice
+        result = {"confirmed": False}
+
+        # Create Yes/No buttons for confirmation dialogs
+        button_frame = ttk.Frame(usage_popup_window.main_frame)
+        button_frame.pack(pady=10)
+
+        def on_yes() -> None:
+            result["confirmed"] = True
+            PopupWindow.close(usage_popup_window, parent)
+
+        def on_no() -> None:
+            result["confirmed"] = False
+            PopupWindow.close(usage_popup_window, parent)
+
+        yes_button = ttk.Button(button_frame, text=_("Yes"), command=on_yes, width=10)
+        yes_button.pack(side=tk.LEFT, padx=5)
+
+        no_button = ttk.Button(button_frame, text=_("No"), command=on_no, width=10)
+        no_button.pack(side=tk.LEFT, padx=5)
+
+        # Finalize window setup
+        PopupWindow.finalize_window_setup(usage_popup_window, parent, lambda: PopupWindow.close(usage_popup_window, parent))
+
+        # Wait for the window to be closed (modal behavior)
+        parent.wait_window(usage_popup_window.root)
+
+        return result["confirmed"]

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/07_esc.param

@@ -6,7 +6,7 @@ MOT_PWM_MAX,1920
 MOT_PWM_MIN,1120
 MOT_PWM_TYPE,0  # Specified in component editor window
 MOT_SPOOL_TIME,0.5
-NTF_BUZZ_TYPES,5  # Our CubeOrange have it self buzzer.
+NTF_BUZZ_TYPES,5  # Our FC has a buzzer.
 NTF_LED_TYPES,123079
 PSC_ACCZ_SMAX,1000  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
 SERVO_BLH_POLES,14  # Specified in component editor window

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/42_system_id_roll.param

@@ -3,18 +3,20 @@ ARMING_CHECK,30174  # disable Parameter check because we need to set ATC_RAT_RLL
 ATC_ANG_PIT_P,4.5  # reset to default to not interfere with sysID
 ATC_ANG_RLL_P,4.5  # reset to default to not interfere with sysID
 ATC_ANG_YAW_P,4.5  # reset to default to not interfere with sysID
+ATC_RAT_PIT_I,0.180513
 ATC_RAT_RLL_I,0  # prevent the rate controllers from compensating too much of the frequency-sweep signal
+ATC_RAT_YAW_I,0.099616
 ATC_RATE_FF_ENAB,0  # prevent the rate controllers from compensating too much of the frequency-sweep signal
 FLTMODE6,25  # Activate sysid instead of loiter
 LOG_BITMASK,704510  # attitude sample rate at loop rate
 LOG_DISARMED,0  # was only needed for wind speed estimation
 LOG_REPLAY,0  # was only needed for wind speed estimation
 SID_AXIS,10  # Inject chip on the mixer roll signal
-SID_F_START_HZ,0.1
-SID_F_STOP_HZ,10
+SID_F_START_HZ,0.08
+SID_F_STOP_HZ,11
 SID_MAGNITUDE,0.15
 SID_T_FADE_IN,5
-SID_T_FADE_OUT,5
+SID_T_FADE_OUT,1
 SID_T_REC,130
 TUNE,0  # System identification magnitude
 TUNE_MAX,0.3  # System identification max magnitude

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/43_system_id_pitch.param

@@ -2,9 +2,9 @@ ATC_RAT_PIT_I,0  # prevent the rate controllers from compensating too much of th
 ATC_RAT_RLL_I,0.155054  # we are not performing system identification on the roll axis, so restore it to the autotuned value
 ATC_RATE_FF_ENAB,0  # prevent the rate controllers from compensating too much of the frequency-sweep signal
 SID_AXIS,11  # Inject chip on the mixer pitch signal
-SID_F_START_HZ,0.1
-SID_F_STOP_HZ,10
+SID_F_START_HZ,0.08
+SID_F_STOP_HZ,11
 SID_MAGNITUDE,0.15
 SID_T_FADE_IN,5
-SID_T_FADE_OUT,5
+SID_T_FADE_OUT,1
 SID_T_REC,130

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/44_system_id_yaw.param

@@ -6,5 +6,5 @@ SID_F_START_HZ,0.1
 SID_F_STOP_HZ,10
 SID_MAGNITUDE,0.55
 SID_T_FADE_IN,5
-SID_T_FADE_OUT,5
+SID_T_FADE_OUT,1
 SID_T_REC,130

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/vehicle_components.json

@@ -3,9 +3,9 @@
     "Components": {
         "Flight Controller": {
             "Product": {
-                "Manufacturer": "ArduPilot,AET,Airvolute,Aocoda-RC-H743Dual,DM,CSKY,GreenSight,Japan Aviation Electronics Industry Ltd.,mRo,ORBITH743,Horizon31,Dheeran labs,Qiotek,Sierra Aerospace,SkySakura",
+                "Manufacturer": "Holybro",
                 "Model": "Pixhawk4",
-                "URL": "https://holybro.com/products/pixhawk-6c?srsltid=AfmBOoqx6fEclM8l4wICaZcGtR5ecABosliproB7TozPMEdYY7SG0A_t",
+                "URL": "https://holybro.com/products/pixhawk-4?srsltid=AfmBOooNvEAR2_85PybTqRHhojmQW-aMW8TY-iQfI1v2qUU50AfxmCYg",
                 "Version": "1.0"
             },
             "Firmware": {
@@ -183,6 +183,5 @@
             "Notes": ""
         }
     },
-    "Program version": "2.2.0",
-    "Configuration template": "Holybro_X500_V2"
+    "Program version": "2.5.0"
 }

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/05_remote_controller.param

@@ -1,10 +1,10 @@
-ARMING_RUDDER,2  # It's was arming method from begin so I keep it
+ARMING_RUDDER,2
 BRD_ALT_CONFIG,0
 RC_OPTIONS,32
 RC_PROTOCOLS,2  # Selected in the component editor
-RC10_OPTION,0  # I have up until 6 available channels
-RC6_OPTION,0  # I use this for the flight mode selection at FLTMODE_CH.
-RC7_OPTION,0  # I have up until 6 available channels
-RC8_OPTION,0  # I have up until 6 available channels
-RC9_OPTION,0  # I have up until 6 available channels
-RSSI_TYPE,0  # radio without RSSI
+RC10_OPTION,0
+RC6_OPTION,0
+RC7_OPTION,0
+RC8_OPTION,0
+RC9_OPTION,0
+RSSI_TYPE,0

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/06_telemetry.param

@@ -1,2 +1,4 @@
 BRD_SER1_RTSCTS,2  # we have no RTS/CTS pins connected, telemetry was working fine already
 SERIAL1_BAUD,57  # 5760 baud rate is maximum
+SERIAL1_OPTIONS,0
+SERIAL1_PROTOCOL,2

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/07_esc.param

@@ -1,14 +1,14 @@
-ATC_RAT_PIT_SMAX,0  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
-ATC_RAT_RLL_SMAX,0  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
-ATC_RAT_YAW_SMAX,0  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+ATC_RAT_PIT_SMAX,25  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+ATC_RAT_RLL_SMAX,25  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+ATC_RAT_YAW_SMAX,25  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
 MOT_HOVER_LEARN,2  # So that it can tune the throttle controller on 20_throttle_controller.param file
 MOT_PWM_MAX,1900
 MOT_PWM_MIN,1100
 MOT_PWM_TYPE,0  # Specified in component editor window
 MOT_SPOOL_TIME,0.5
-NTF_BUZZ_TYPES,5  # Our CubeOrange have it self buzzer.
+NTF_BUZZ_TYPES,5  # Our FC has a buzzer.
 NTF_LED_TYPES,123079
-PSC_ACCZ_SMAX,0  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+PSC_ACCZ_SMAX,1000  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
 SERVO_BLH_POLES,14  # Specified in component editor window
 SERVO_FTW_POLES,14  # Specified in component editor window
 SERVO1_MAX,1900  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
@@ -23,5 +23,5 @@ SERVO3_TRIM,1500  # Operating Pulse Width:1100-1900us(Fixed or cannot be Program
 SERVO4_MAX,1900  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
 SERVO4_MIN,1100  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
 SERVO4_TRIM,1500  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
-TKOFF_RPM_MIN,0  # I don't have esc telemetry to measure
+TKOFF_RPM_MIN,0  # No ESC telemetry available, so no way to measure RPM
 TKOFF_SLEW_TIME,2

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/10_gnss.param

@@ -1,10 +1,10 @@
 BRD_SAFETY_DEFLT,0  # Safety switch gets disabled.
 CAN_D1_PROTOCOL,0  # Enable this when a CAN gps will be used in the future.
 CAN_P1_DRIVER,0  # No CAN drivers are required for now
-GPS_GNSS_MODE,0  # GPS will be used
-GPS_POS1_X,-0.1  # The GPS is placed 10 centimeters back.
-GPS_POS1_Y,0  # The GPS is in the center for this coördinate
-GPS_POS1_Z,-0.05  # The GPS is 5 centimers up from the origin.
+GPS_GNSS_MODE,0
+GPS_POS1_X,0
+GPS_POS1_Y,0
+GPS_POS1_Z,0
 GPS_TYPE,2  # Defined in component editor
 NTF_LED_TYPES,123079  # Enable DRONECAN LED
 SERIAL3_PROTOCOL,5  # GPS will be used.

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/13_general_configuration.param

@@ -6,13 +6,13 @@ EK3_SRC1_POSZ,1  # Use the default, it is safer, only barometer will be used
 FENCE_TYPE,7  # cylinder and max altitude, to obey local regulations and safety measures
 FS_EKF_ACTION,1  # Use the default, it is safer
 INS_ACCEL_FILTER,10  # the default is 20 and that lets too much noise in
-INS_POS1_X,0  # was -0.005
-INS_POS1_Y,0  # was -0.011
-INS_POS2_X,0  # was -0.011
-INS_POS2_Y,0  # was -0.01
+INS_POS1_X,0
+INS_POS1_Y,0
+INS_POS2_X,0
+INS_POS2_Y,0
 LAND_ALT_LOW,1000  # GPS is only 2.0m CEP
 RTL_ALT,500  # RTL at 5m is fine.
 RTL_LOIT_TIME,5000  # The default is too long. This reduces the time
 SCHED_LOOP_RATE,400  # Stay on default loop rate, this is a slow vehicle
 SCR_ENABLE,1  # Use lua scripting for VTOL-Quicktune, MagFit automation and wind speed estimation automation
-SERIAL7_PROTOCOL,2  # MavLink 2 is supported.
+SERIAL7_PROTOCOL,-1

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/15_motor.param

@@ -1,4 +1,4 @@
 MOT_SPIN_ARM,0.1  # From current 0.07A the motors start spinning.
-MOT_SPIN_MAX,0.95  # Upper dead zone of the X11 plus
+MOT_SPIN_MAX,0.95
 MOT_SPIN_MIN,0.15  # This should be 0.10A.
 MOT_THST_EXPO,0.65  # I don't have thrust stand so use Ardupilot suggestion.

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/16_pid_adjustment.param

@@ -1,13 +1,13 @@
 ATC_ANG_PIT_P,4.5
 ATC_ANG_RLL_P,4.5
 ATC_ANG_YAW_P,4.5
-ATC_INPUT_TC,0.15  # Make the RC feel a bit slower than default
-ATC_RAT_PIT_D,0.0036  # (0.0036 default)
-ATC_RAT_PIT_I,0.135  # = 1.283176 * (0.135 default)
-ATC_RAT_PIT_P,0.135  # = 1.283176 * (0.135 default)
-ATC_RAT_RLL_D,0.0036  # = 0.690593 * (0.0036 default)
-ATC_RAT_RLL_I,0.135  # = 1.061015 * (0.135 default)
-ATC_RAT_RLL_P,0.135  # = 1.061015 * (0.135 default)
-ATC_RAT_YAW_D,0  # = 1 * (0 default)
-ATC_RAT_YAW_I,0.018  # = 2.514026 * (0.018 default)
-ATC_RAT_YAW_P,0.18  # = 2.514026 * (0.18 default)
+ATC_INPUT_TC,0.15
+ATC_RAT_PIT_D,0.0036  # 1.0 * (0.0036 default)
+ATC_RAT_PIT_I,0.135  # = 1.0 * (0.135 default)
+ATC_RAT_PIT_P,0.135  # = 1.0 * (0.135 default)
+ATC_RAT_RLL_D,0.0036  # = 1.0 * (0.0036 default)
+ATC_RAT_RLL_I,0.135  # = 1.0 * (0.135 default)
+ATC_RAT_RLL_P,0.135  # = 1.0 * (0.135 default)
+ATC_RAT_YAW_D,0  # = 1.0 * (0 default)
+ATC_RAT_YAW_I,0.018  # = 1.0 * (0.018 default)
+ATC_RAT_YAW_P,0.18  # = 1.0 * (0.18 default)

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/18_notch_filter_setup.param

@@ -5,6 +5,6 @@ INS_HNTCH_BW,20  # this is just a hunch, it must be improved after the first fli
 INS_HNTCH_ENABLE,1  # Use the first notch filter to filter the noise created by the motors/propellers
 INS_HNTCH_FREQ,58.8  # Use 1.4 * INS_GYRO_FILTER as a first guess
 INS_HNTCH_HMNCS,1  # Harmonic notch filter to first harmonics.
-INS_HNTCH_MODE,3  # ESC telemetry mode; each motor will have a notch assigned
-INS_HNTCH_OPTS,22  # Triple overlapping notches, updating the filters at the loop rate (fast)
-INS_HNTCH_REF,1  # For RPM telemetry ESC notch filtering
+INS_HNTCH_MODE,1
+INS_HNTCH_OPTS,0
+INS_HNTCH_REF,0.35

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/20_throttle_controller.param

@@ -1,3 +1,3 @@
-ATC_THR_MIX_MAN,0.1  # because we have learned the MOT_THST_HOVER value
+ATC_THR_MIX_MAN,0.5  # because we have learned the MOT_THST_HOVER value
 PSC_ACCZ_I,0.4  # Use 2 * MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned
 PSC_ACCZ_P,0.2  # Use MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/22_quick_tune_setup.param

@@ -7,7 +7,7 @@ QUIK_GAIN_MARGIN,60
 QUIK_MAX_REDUCE,20
 QUIK_OPTIONS,0
 QUIK_OSC_SMAX,5
-QUIK_RC_FUNC,300  # the script uses this value to listen to RC switch
+QUIK_RC_FUNC,301  # the script uses this value to listen to RC switch
 QUIK_RP_PI_RATIO,1
 QUIK_Y_PI_RATIO,10
 QUIK_YAW_D_MAX,0.01

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/26_quick_tune_setup.param

@@ -2,12 +2,12 @@ QUIK_AUTO_FILTER,1
 QUIK_AUTO_SAVE,0
 QUIK_AXES,7
 QUIK_DOUBLE_TIME,10
-QUIK_ENABLE,1  # enables quiktune script
+QUIK_ENABLE,1  # Use VTOL-Quicktune lua script to estimate a good PID starting values
 QUIK_GAIN_MARGIN,60
 QUIK_MAX_REDUCE,20
 QUIK_OPTIONS,0
 QUIK_OSC_SMAX,5
-QUIK_RC_FUNC,300  # the script uses this value to listen to RC switch
+QUIK_RC_FUNC,301  # the script uses this value to listen to RC switch
 QUIK_RP_PI_RATIO,1
 QUIK_Y_PI_RATIO,10
 QUIK_YAW_D_MAX,0.01

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/30_autotune_roll_setup.param

@@ -1,2 +1,3 @@
 AUTOTUNE_AGGR,0.1  # Use the default for now
 AUTOTUNE_AXES,1  # Autotune roll axis
+RC6_OPTION,17

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/34_autotune_yaw_setup.param

@@ -1,3 +1,3 @@
-ATC_RAT_YAW_FLTD,0  # INS_GYRO_FILTER / 4
+ATC_RAT_YAW_FLTD,10.5  # Use INS_GYRO_FILTER / 4 as a first guess
 AUTOTUNE_AGGR,0.1  # Use the default for now
 AUTOTUNE_AXES,4  # Autotune yaw axis

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/37_autotune_yawd_results.param

@@ -1,5 +1,5 @@
 ATC_ACCEL_Y_MAX,27000
 ATC_ANG_YAW_P,4.5
-ATC_RAT_YAW_D,0  # if == to AUTOTUNE_MIN_D, autotune failed
+ATC_RAT_YAW_D,0.01  # if == to AUTOTUNE_MIN_D, autotune failed
 ATC_RAT_YAW_I,0.018
 ATC_RAT_YAW_P,0.18