A method for collecting information required for Bode plot creation of a UAV (Unmanned Aerial Vehicle) autopilot system is provided. The method comprises: creating a Bode plot generation input signal: adding the Bode plot generation input signal to control inputs; collecting data from multiple points within the control system; calculating magnitude and phase at the multiple points using the data collected; recording the magnitude and phase for the multiple points in a datalog; comparing the magnitude and phase for the multiple points to calculate the gain and phase margins for open loop responses in the control system; creating a Bode plot for at least one of the following: i) a closed loop response of the attitude and/or rate loops, ii) an open loop response of the attitude and/or rate loops and iii) a response of the UAV; and outputting the Bode plot.