ardupilot-methodic-configurator 1.5.0

A clear configuration sequence for ArduPilot vehicles

Correctly configure ArduPilot for your vehicles on your first attempt

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ArduPilot Methodic Configurator is a software, developed by ArduPilot developers, that semi-automates a clear, proven and safe configuration sequence for ArduCopter drones. We are working on extending it to ArduPlane, Heli and Rover vehicles. But for those it is still very incomplete.

• clear: the sequence is linear, executed one step at the time with no hidden complex dependencies
• proven: the software has been used by hundreds of ArduPilot developers and users. From beginners to advanced. On big and small vehicles.
• safe: the sequence reduces trial-and-error and reduces the amount of flights required to configure the vehicle

Here are some YouTube video tutorials from the AMC YouTube Channel:

And here is a presentation explaining it:

Comparison with Ground Control Station (GCS) software, traditionally used to configure ArduPilot before AMC existed:

Feature	Mission Planner, QGroundControl, ... etc	ArduPilot Methodic Configurator
full automatic configuration	No	No
configuration type	manual [^1]	semi-automated [^2]
explains what to do	No	Yes
explains when to do something	No	Yes, explains the path
explains why do something	No	Yes
configuration method	a different menu for each task, some tasks have no menu, so you need to dig into the 1200 parameters	each task only presents you a relevant subset of parameters
parameter documentation	Yes, only on the full-parameter tree view	Yes
displays relevant documentation	No	Yes
makes sure you do not forget a step	No	Yes
checks that parameters get correctly uploaded	No (MP), unsure (QGCS), yes (MAVProxy)	Yes
reuse params in other vehicles	No, unless you hand edit files	Yes, out-of-the-box
documents why you changed each parameter	No	Yes
tutorials and learning resources	No, scattered and not integrated	Yes, context-aware help integrated
auto. install lua scripts on the FC	No	Yes
auto. backup of parameters before changing them	No	Yes

[^1]: you need to know what/when/why you are doing [^2]: it explains what you should do, when you should do it and why

It's simple graphical user interface (GUI) manages and visualizes ArduPilot parameters, parameter files and documentation.

No visible menus, no hidden menus, no complicated options, what you see is what gets changed.

1. Quick overview of the entire process

To methodically build, configure and tune ArduPilot vehicles follow this sequence of steps:

1.1 Select the vehicle components

• while choosing an Autopilot and other hardware components avoid these components
• Use ecalc for multirotor to select the propulsion system.
• follow hardware best practices

1.2 Install Software

• Install ArduPilot Methodic Configurator on MS windows, Linux or macOS
• Install the latest Mission Planner version
• Install the latest ArduPilot firmware on your flight controller board

1.3 Input vehicle components and component connections into ArduPilot Methodic Configurator

The software needs this information to automatically pre-select configuration settings relevant to your specific vehicle

• Start the ArduPilot Methodic Configurator and select a vehicle that resembles yours and input vehicle components and component connections information into the ArduPilot Methodic Configurator component editor window

1.4 Perform IMU temperature calibration before assembling the autopilot into the vehicle (optional)

IMU temperature calibration reduces the probability of Accel inconsistent and Gyro inconsistent errors and reduces the time required to arm the vehicle. IMU temperature calibration requires lowering the temperature of the autopilot (flight controller) to circa -20°C. That is harder to do once the autopilot is assembled inside the vehicle, hence it is done now.

• start the software
• Perform IMU temperature calibration

1.5 Assemble all components except the propellers

Assemble and connect all components. Make sure you follow best practices

1.6 Basic mandatory configuration

Again using the ArduPilot Methodic configurator software GUI perform the following steps:

• 04_board_orientation.param flight controller orientation
• 05_remote_controller.param remote controller connections and protocol
• 06_telemetry.param telemetry transceiver connections and protocol (optional)
• 07_esc.param Electronic-Speed-Controller connections and protocol
• 08_batt1.param Battery health and state of charge monitoring
• 10_gnss.param GNSS receiver connection and protocol
• 11_initial_atc.param initial attitude PID gains (vehicle size dependent)

Now use Mission Planner to do:

• 12_mp_setup_mandatory_hardware.param calibrate vehicle sensors

And continue with the ArduPilot Methodic configurator software GUI :

• 13_general_configuration.param general misc configuration
• Test if the hardware diagnostics are OK
• 14_logging.param configure Dataflash/SDCard logging (black box data)
• 15_motor.param motor order and direction tests. ESC linearization.
• 16_pid_adjustment.parm attitude PID gains (vehicle size dependent)
• 17_remote_id.param required by law in many countries
• 18_notch_filter_setup.param to remove motor noise, reduce power consumption and increase flight stability

1.7 Assemble propellers and perform the first flight

Now that all mandatory configuration steps are done you can perform the first flight

1.8 Minimalistic mandatory tuning

These are the very minimum tuning steps required for a stable flight:

• Load the .bin log file from the first flight into Notch filter webtool
• 19_notch_filter_results.param use the webtool information to configure the notch filter(s)
• 20_throttle_controller.param the altitude controller depends on the power-to-thrust ratio found in the first flight
• 21_ekf_config.param sometimes the EKF3 needs a tune to maintain altitude
• 22_quick_tune_setup.param and 23_quick_tune_results.param, you need lua scripting support to do this if not available you can tune manually.

That is it, if you are impatient and do not want an optimized vehicle you can skip to everyday use.

1.9 Standard tuning (optional)

These are the standard tuning steps required for an optimized flight:

• 24_inflight_magnetometer_fit_setup.param, use lua scripted flight path or fly manually, store the results using 25_inflight_magnetometer_fit_results.param, use the magfit webtool to calculate a file that the ardupilot methodic configurator can use
• 26_quick_tune_setup.param and 27_quick_tune_results.param Redo quick-tune now that the compass magnetic interference is fully calibrated
• 28_evaluate_the_aircraft_tune_ff_disable.param and 29_evaluate_the_aircraft_tune_ff_enable.param
• 30_autotune_roll_setup.param and 31_autotune_roll_results.param tune roll axis rate and angle PIDs
• 32_autotune_pitch_setup.param and 33_autotune_pitch_results.param tune pitch axis rate and angle PIDs
• 34_autotune_yaw_setup.param and 35_autotune_yaw_results.param tune yaw axis rate and angle PIDs
• 36_autotune_yawd_setup.param and 37_autotune_yawd_results.param tune yawd axis rate and angle PIDs
• 38_autotune_roll_pitch_retune_setup.param and 39_autotune_roll_pitch_retune_results.param re-tune roll and pitch pitch axis rate and angle PIDs

Now the standard tuning is complete you can skip to everyday use

1.10 Improve altitude under windy conditions (optional)

• 40_windspeed_estimation.param estimates the wind speed
• 41_barometer_compensation.param Uses the estimated wind speed to improve altitude stability

1.11 System identification for analytical PID optimization (optional)

• 42_system_id_roll.param, 43_system_id_pitch.param, 44_system_id_yaw.param
• 46_analytical_pid_optimization.param

1.12 Position controller tuning (optional)

• 47_position_controller.param, 48_guided_operation.param, 49_precision_land.param

1.13 Everyday use

Now that tuning and configuration are done, some logging and tests can be disabled and some more safety features enabled:

• 53_everyday_use.param

Enjoy your properly configured vehicle.

The following sections describe each step of the procedure in more detail.

2. Install ArduPilot Methodic Configurator software on a PC or Mac

Install ArduPilot Methodic Configurator on MS windows, Linux or macOS

3. Install Mission Planner software on a PC or Mac

Install the latest Mission Planner version

4. Install ArduPilot firmware on the flight controller

Install the latest ArduPilot firmware on your flight controller board

5. Use the ArduPilot Methodic Configurator software for the first time

See the Use the ArduPilot Methodic Configurator software for the first time usecase.

6. Configure the vehicle's parameters in a traceable way

The following simple loop is presented as welcome instructions:

Now do this in a loop until the software automatically closes or you are asked to close the software:

• Read all the documentation links displayed at the top of the GUI (marked with the big red number 4),
• Edit the parameter's New value and Reason changed fields to match your vehicle (marked with the big red number 5), documenting change reasons is crucial because it:
  • Promotes thoughtful decisions over impulsive changes
  • Provides documentation for vehicle certification requirements
  • Enables validation or suggestions from team members or AI tools
  • Preserves your reasoning for future reference or troubleshooting
• Press Del and/or Add buttons to delete or add parameters respectively (marked with the big red number 5),
• If necessary scroll down using the scroll bar on the right and make sure you edit all parameters,
• Press Upload selected params to FC, and advance to next param file (marked with the big red number 7),
• Repeat from the top until the program automatically closes.

7. Use the ArduPilot Methodic Configurator software after having created a vehicle from a template

See the Use the ArduPilot Methodic Configurator software after having created a vehicle from a template usecase.

Congratulations your flight controller is now fully configured in the safest and fastest way publicly known.

There is also documentation on other use cases and a detailed but generic Usermanual.

Install

See the install instructions

Documentation and Support

Need help or support

Contributing

Want to help us and contribute?

Software design and development

To meet the Software requirements a software architecture was designed and implemented.

Internationalization

The software is available in multiple languages. On MS Windows the language is selected during install and that selection is stored in the desktop icon. You can manually create multiple desktop icons, each will run the software in a different language. On Linux and macOS the language is selectable by the --language command line argument.

See contributing page if you want to help us translate the software into your language.

Code of conduct

To use and develop this software you must obey the ArduPilot Methodic Configurator Code of Conduct.

Compliance

ArduPilot Methodic Configurator adheres to multiple compliance standards and best practices:

Usability

• Wizard like interface, allows user to concentrate in one task at a time
• All GUI elements contain mouse over tooltips explaining their function
• Relevant documentation opens automatically in a browser window
• Uses What you see is what gets changed paradigm. No parameters are changed without the users's knowledge
• Translated into multiple languages
• No visible menus, no hidden menus.

Code Quality

• Follows PEP 8 Python code style guidelines
• Maintains high code quality through automated linting (static code analysis), all using strict settings:
  • Pylint automated workflow,
  • Ruff automated workflow,
  • mypy automated workflow and
  • pyright automated workflow
• Uses PEP 484 type hints
  • Enforces type checking with MyPy and pyright type checkers
• Automated code formatting using ruff for consistency
• Code and documentation are spell checked and english grammar checked
  • markdown-lint automated workflow and
  • markdown-link-check automated workflow
• Follows object-oriented design principles and clean code practices
• Implements comprehensive error handling and logging, with 5 verbosity levels
• Implements PEP 621 project metadata standards
• Adheres to Keep a Changelog format
• Complies with Python Packaging Authority guidelines

Software Development

• Implements continuous integration/continuous deployment (CI/CD) practices
• Maintains comprehensive assertion-based test coverage through pytest
• Uses semantic versioning for releases
• Follows git-flow branching model
• Implements automated security scanning and vulnerability checks
• Implements git pre-commit hooks to ensure code quality and compliance on every commit
• Implements reproducible builds with locked dependencies
• Uses containerized CI/CD environments for consistency
• Uses automated changelog generation
• Implements automated dependency updates and security patches using renovate and dependabot

Open Source

• Complies with OpenSSF Best Practices for open source projects
• Uses REUSE specification for license compliance
  • Uses CI job to ensure compliance
  • Uses SPDX license identifiers
• Maintains comprehensive (more than 5000 lines) documentation
• Implements inclusive community guidelines
• Provides clear contribution procedures

Security

• Regular security audits through Snyk, codacy, black duck and other tools
• Follows OpenSSF Security Scorecard best practices
• Uses gitleaks pre-commit hook to ensure no secrets are leaked
• Implements secure coding practices, runs anti-virus in CI
• Maintains security policy and vulnerability reporting process

License

This software is cost free. This project is licensed under the GNU General Public License v3.0.

Credits

It builds upon other open-source software packages

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