The configuration of the control parameters, in other words, how each of these axes corresponds to a change in the input signal, is performed using the APM Mission Planner software which allows serial communication between the controller board and a PC.

After tuning the response parameters of each axis of the vehicle, the drone could operate in manual flight mode being manipulated by a radio control with as many channels as the receiver has mounted on board.

In the next picture, you can see APM Mission Planner, this is where you can modify and adjust the control parameters for each axis of motion and each flight mode is displayed. The tool also allows monitoring the sensors on board the vehicle such as the barometer, the GPS and inertial measurement unit, or IMU.