Vintage 30 year old Piaf, OS 10-fp glow engine, 2 axis (no rudder), updated with new covering, new paint, more washout on the wings, PbF3evo flight controller (pikoBlx clone with 1,5A bec), bluetooth module, Spektrum serial telemetry receiver, 2s lipo. The objective is to use this aircraft as a test-bench for my bigger glow air-planes.
The FC bec powers the 3 servos which makes the setup a lot easier, the receiver provides RX voltage telemetry, the Bluetooth allows for remote adjustment through GCS without having a USB cable next to a running glow engine.
As an initial setup I placed my phone with a vibration analysis software in the fuse. The reported frequency was 53hz, so I used 50Hz (initially order 1 then 3) as the low pass vibration filter. For the PIDs I followed mlyle suggestions (see his nano gobelin post). So TxPID module was enabled with Accessory0 adjusting RollP, Accessory1 adjusting PitchP, and Accessory0 also adjusting RollPitchI so that I = P/3. In order to always be in control of the aircraft I've selected Manual and AcroPlus flight modes with the insanity factor raised to 70% (so that big stick deflection have more authority than the flight controller). Autotune actuation effort was left on the default settings (65) which is usually very conservative.
Here is the end of the autotune flight. Actuation effort was too low so the wings are only slightly wiggling. Low pass filter is not aggressive enough to cure the Roll vibrations (pitch is Ok though): my mistake as I was presuming that vibrations would be on the axis of the cylinder (i.e pitch) and recorded the wrong axis with my phone. Anyhow the tune is good enough and it flies great. As can be seen the scene is in the Alps, and the little plane flies like a big one despite the wind gusts. Time to throw in a new engine!