ADRC utils
Tools and documentation for tuning ADRC on drones. Everything here runs in your browser.
ADRC tuning sandbox
An interactive step-response simulator. Drag sliders around to see how different control parameters influence step response and disturbance recovery. Adjust dynamics such as disturbance magnitude, sensor noise, and motor lag.
Open the sandboxPlant fit
Upload a Betaflight blackbox CSV from a chirp flight to identify the roll, pitch and yaw plant and get b0 estimates as a starting point for tuning.
Open plant fitQuickstart guide
Quick setup of ADRC to get flying with an initial tune. Provides an explanation for what each parameter does.
Read the guide