Arducopter has auto-tune (no ML, though). BF flies great out of the box, and there are presets for most popular types/sizes. Oh, and I don’t think they have dev

Arducopter has auto-tune (no ML, though). BF flies great out of the box, and there are presets for most popular types/sizes. Oh, and I don’t think they have devs on their team who are experienced in ML to the point of writing that code. I think the way to go to would be to first record the response to pre-defined control inputs in level mode, then tune offline from blackbox data. But with BF quads mostly lacking GPS, you would have to pick a large empty field to be able to run this without hitting anyone/anything.