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J~ = double Jumble moves -- l~ = left hand up single Jumble move -- r~ = right hand single

Edge turning only. Edge is denoted by the 2 adjacent faces. B = back, D = Down.

Jumbling move is when the turn is less than 180 degrees on 2 opposite but not parallel sides, "aligning" with the connecting/bridging side denoted to turn.
eg LU side turned upward (shallow angle) counter clockwise, FR side turned counter clockwise, while turning FU side, is called lFU.
RU side clockwise, FL side clockwise, is called rFU. Doing both sequentially is the double Jumble JFU.

Twist F/R corner --one run-a-round. This will mess the top layer up.

Cycle corners -- C-shape algorithm. Correct corner to the Front/Left. If more than one correct, then incorrect corner to the F/L. Reassess.

Twist 3 corners -- 6 run-a-rounds. Correct corner to the Front/Left. If more than one correct, then incorrect corner to the F/L. Reassess.

Solving instructions (also for curvy copter):

• IRL: bring the ~copter back to cube shape.
• Curvy copter: Orient the edge pieces of the first layer.
• Center pieces of the first layer. see ***
• Curvy copter: Orient the edge pieces of the middle layer.
• Fix the corners of the first/top layer. see *
• Fix the centers of the first side layer. see * and ***
• Now exchange centers to get as far as possible; then apply the *** technique. Note that you can exchange two pieces of the same kind with *** to avoid endless exchanges.
• Curvy copter: use double Jumble moves to flip the edges in the last layer.
• Place the corners of the last layer. See above algorithm.
• Orient the corners. See above.

You can use double Jumble move to flip the (here absent) edge piece in the curvy copter.

***With single Jumble moves you can exchange the centers on the outsides of the denoting edge, to change their "orbit". Tip: try on pristine cube.
Also you can use setup to bring adjacent centers to the outside first.

*Note the braiding technique to move center (A) up the column:
move A to the side, move column down, **move B to the other side, move A back, **move B back, move column up.
To move a corner up, omit **.