Definitive PX4 Framework

Advance your technical expertise with a methodical approach to PX4 optimization. This course provides a clear, data-driven roadmap to transform your drone’s stability and response through professional engineering workflows.

In-Depth Technical Curriculum

Master the PX4 control architecture, from sensor filtering and notch filter setup to Rate, Attitude, and Position PID loops. Learn to eliminate vibrations and achieve surgical precision in both manual and autonomous flight modes.

Engineering Approach

Go beyond the basics with deep dives into control theory, parameter optimization, and log analysis. Each module includes step-by-step tuning sequences and technical quizzes to ensure you can troubleshoot and refine any platform with confidence.

About the Course

This course is a focused deep-dive into the science of PX4 multicopter optimization. It is designed to replace guesswork with a repeatable, professional process that unlocks the full potential of your hardware. These principles apply to any platform, from cinematic rigs to industrial heavy-lifters. You will gain the skills to adapt the PX4 flight stack to any configuration, ensuring a locked-in, reliable flight feel every time. Note: This is a self-directed guide for independent learning and does not include one-on-one technical support. This course is an independent educational resource and is not affiliated with the PX4 Autopilot project or the Dronecode Foundation.

Meet Your Course Creator

Hi everyone! I’m Chris Rosser, an aerothermal engineer with a specialism in analytical engineering and computational modeling. Starting out as a hobby FPV drone pilot, I now design my own drone frames and motors under the brand AOS RC. I work with drone companies around the world to optimize their drone products and tunes for ultimate flight performance. I also run my own YouTube channel @ChrisRosser, where I explore the science behind drones, review latest drone technologies, and produce guides on tuning your drones. Following a YouTube video series on PX4 tuning for hobby drone pilots, this has now evolved into a full course for professional multicopter drone pilots.

Looking to enroll your whole team?

We offer multi-seat discounts for organizations, as well as special rates for registered non-profits and educational institutions. Please email [email protected] to discuss your order.

Course Curriculum

11 Chapters · 120 Lessons

  1. 1

    Introduction to PX4 Tuning

    1. Course Overview Free preview
    2. PX4 or ArduPilot? Free preview
    3. Safety Disclaimer Free preview
    4. (Included in full purchase)

      PDF Quick Reference Guide

  2. 2

    Initial Set Up

    1. Chapter Introduction Free preview
    2. (Included in full purchase)

      Install QGroundControl Software

    3. (Included in full purchase)

      PX4 Hardware Suggestions

    4. (Included in full purchase)

      Wiring the MicoAir743 V2

    5. (Included in full purchase)

      Quiz: PX4 vs Ardupilot & Hardware Setup

    6. (Included in full purchase)

      Connecting to QGroundControl

    7. (Included in full purchase)

      Selecting Airframe

    8. (Included in full purchase)

      Compass Calibration​

    9. (Included in full purchase)

      Gyro and Level Horizon Calibration

    10. (Included in full purchase)

      Accelerometer Calibration

    11. (Included in full purchase)

      Quiz: Sensor Calibration

    12. (Included in full purchase)

      Radio Selection

    13. (Included in full purchase)

      Radio Calibration​

    14. (Included in full purchase)

      Flight Modes​, Arming and Kill Switch

    15. (Included in full purchase)

      Power​ Settings

    16. (Included in full purchase)

      Motor Set Up​

    17. (Included in full purchase)

      Safety​ Settings

    18. (Included in full purchase)

      Connect to FC with Bluetooth​

    19. (Included in full purchase)

      Quiz: Initial Setup & Configuration in QGroundControl

  3. 3

    Maiden Test Flight

    1. Chapter Introduction Free preview
    2. (Included in full purchase)

      SD Card For Logging​

    3. (Included in full purchase)

      Logging Settings​

    4. (Included in full purchase)

      Pre-Flight Checks and Hover Test​

    5. (Included in full purchase)

      How to Download the Logs

    6. (Included in full purchase)

      Upload Log to Flight Review​

    7. (Included in full purchase)

      Quiz: Logging & First Hover Flight

  4. 4

    Filter Tuning in PX4

    1. Chapter Introduction Free preview
    2. (Included in full purchase)

      Gyro Noise Profiles

    3. (Included in full purchase)

      Introduction to Notch Filters

    4. (Included in full purchase)

      Set Up Bi-directional DShot and ESC Telemetry

    5. (Included in full purchase)

      Set Up RPM Notch Filters​

    6. (Included in full purchase)

      Introduction to Dynamic FFT

    7. (Included in full purchase)

      FFT vs RPM for PX4 Notch Filters​

    8. (Included in full purchase)

      Set Up FFT Notch Filters​

    9. (Included in full purchase)

      Set Up FFT Engine​

    10. (Included in full purchase)

      Set Up FFT Dynamic Notch Filters​

    11. (Included in full purchase)

      Static Filters

    12. (Included in full purchase)

      Tuning Notch Filters​

    13. (Included in full purchase)

      Gyro Low Pass Filter (IMU_GYRO_CUTOFF)​

    14. (Included in full purchase)

      Tuning the Gyro Low Pass Filter​

    15. (Included in full purchase)

      Tuning the Gyro D Term Filter

    16. (Included in full purchase)

      Increasing the IMU_GYRO_CUTOFF​

    17. (Included in full purchase)

      Quiz: Filter Theory

    18. (Included in full purchase)

      Quiz: Filter Setup & Tuning

  5. 5

    PID Tuning

    1. Chapter Introduction Free preview
    2. (Included in full purchase)

      The PX4 Rate PID-FF Controller​

    3. (Included in full purchase)

      Proportional Term​

    4. (Included in full purchase)

      Derivative Term​

    5. (Included in full purchase)

      P:D Balance​

    6. (Included in full purchase)

      Integral Term​

    7. (Included in full purchase)

      Feed-Forward Term​

    8. (Included in full purchase)

      P:I Balance And D->P->I->FF Tuning Approach​

    9. (Included in full purchase)

      Three Rate Controllers in PX4

    10. (Included in full purchase)

      PID Tuning Flight Tips

    11. (Included in full purchase)

      Set Up For PID Tuning​

    12. (Included in full purchase)

      PID Test Flights

    13. (Included in full purchase)

      Reading Time Series Data in PX4 PID Review

    14. (Included in full purchase)

      Quiz: Reading Flight Logs & PX4 PID Review

    15. (Included in full purchase)

      Tuning P:D Balance​

    16. (Included in full purchase)

      Adjusting P:D Balance​

    17. (Included in full purchase)

      Roll and Pitch​

    18. (Included in full purchase)

      Avoid Target Saturation

    19. (Included in full purchase)

      Using Step Responses

    20. (Included in full purchase)

      PID Dynamics: The Three Damping States

    21. (Included in full purchase)

      PID Derivative Filtering

    22. (Included in full purchase)

      Overall Multiplier​

    23. (Included in full purchase)

      Under and Overtuned​

    24. (Included in full purchase)

      Overall Multiplier too High

    25. (Included in full purchase)

      Recognising High K Oscillations

    26. (Included in full purchase)

      The "Right" K Term

    27. (Included in full purchase)

      Double Check P:D Balance

    28. (Included in full purchase)

      Troubleshooting Stubborn Oscillations

    29. (Included in full purchase)

      Yaw

    30. (Included in full purchase)

      PID Tuning Tips​

    31. (Included in full purchase)

      I Term Tuning​

    32. (Included in full purchase)

      I term Too High

    33. (Included in full purchase)

      Yaw I Term Tuning​

    34. (Included in full purchase)

      Yaw Feedforward Tuning​

    35. (Included in full purchase)

      Quiz: PID Controller Theory

    36. (Included in full purchase)

      Quiz: Rate PID Tuning - PD Balance & K Term

    37. (Included in full purchase)

      Quiz: Rate PID Tuning - I Term, Yaw & Feed Forward

  6. 6

    Angle Controller Tuning

    1. Chapter Introduction Free preview
    2. (Included in full purchase)

      Adjusting Angle Controller Gain​

    3. (Included in full purchase)

      Adjusting Angle Gain​

    4. (Included in full purchase)

      Check RATE_MAX

    5. (Included in full purchase)

      Increasing RATE_MAX​

    6. (Included in full purchase)

      Increasing Angle P​ Beyond PX4 Max​

    7. (Included in full purchase)

      Quiz: Angle Controller Tuning

  7. 7

    Vertical Velocity Controller Tuning

    1. Chapter Introduction Free preview
    2. (Included in full purchase)

      Setting up for Velocity Tuning Flights

    3. (Included in full purchase)

      Adjusting Vertical Velocity Controller Parameters

    4. (Included in full purchase)

      Vertical Velocity Tuning Flight Tips

    5. (Included in full purchase)

      Vertical Velocity Tuning Flight

    6. (Included in full purchase)

      Tuning Vertical Velocity

    7. (Included in full purchase)

      Vertical Velocity Controller P Oscillation​

    8. (Included in full purchase)

      Quiz: Vertical Velocity Controller Tuning

  8. 8

    Horizontal Velocity Controller Tuning

    1. Chapter Introduction Free preview
    2. (Included in full purchase)

      Adjusting Horizontal Velocity Controller Parameters

    3. (Included in full purchase)

      Horizontal Velocity Tuning Flight Tips

    4. (Included in full purchase)

      Horizontal Velocity Tuning Flight

    5. (Included in full purchase)

      Tuning XY Velocity​

    6. (Included in full purchase)

      Horizontal Velocity Controller P Oscillation​

    7. (Included in full purchase)

      Quiz: Horizontal Velocity Controller Tuning

  9. 9

    Position Controller Tuning

    1. Chapter Introduction Free preview
    2. (Included in full purchase)

      Position Controller Tuning Flights

    3. (Included in full purchase)

      Tuning Horizontal Position P​

    4. (Included in full purchase)

      Tuning Vertical Position P​

    5. (Included in full purchase)

      Quiz: Position Controller Tuning

  10. 10

    Tuning Flight Behaviour

    1. Chapter Introduction Free preview
    2. (Included in full purchase)

      Reset Velocity Control To Acceleration Based

    3. (Included in full purchase)

      Flight Behaviour Parameters – Stabilized​

    4. (Included in full purchase)

      Flight Behaviour Parameters – Altitude​

    5. (Included in full purchase)

      Flight Behaviour Parameters – Position​

    6. (Included in full purchase)

      Flight Behaviour Parameters – Autonomous​

    7. (Included in full purchase)

      Quiz: Flight Behaviour Parameters

  11. 11

    Close

    1. (Included in full purchase)

      Congratulations!

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