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Know How... 138: Towers Time Forgot, PID Settings, and Feedback

3,693 views · Published 10 April 2015 · 59:23 · Indexed 6 November 2026

Channel: Hands-On AI · 2015 · Howto & Style

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Learn about the Microwave Radio Relay Skyawy, RasOSMC is awesome, PID settings for your quadcopter, eBook reader that's not a Kindle, getting NAT'ed by your ISP, and a map of no drone fly drones. 
Let's talk PID
P = "Proportional Gain Coefficient"
* P addresses the algorithm responsible for balancing the input from the pilot with the data from the sensors.
-- It "wants" to level the sensors
-- A higher P setting makes the craft more reactive to angular change
-- A lower P setting will make the craft most "sluggish" and less apt to "snap" back to level
The takeway is that the higher your P setting, the more your FC will fight to keep the craft level.
** If your P is too high, you'll typically see oscilations in the craft as the controller constantly overcorrects its angle to level.
I = "Integral Gain Coefficient"
* I addresses the algorithm responsible for balancing the corrections from P... over time.
- It wants to "spread out" the corrections that the P value is pushing through the FC
- A higher I setting will stretch out the corrections from P over a longer period of time
- A lower I setting will enact the P corrections quickly
The takeway is that the higher the I settings, the more smoothly your craft will move
* If your craft wobbles during descent, your I setting is too low
* If your craft wobbles during punch-out, your I setting is too high. 
D = "Derivative Gain Coefficient"
* D is the algorithm that softens the corrections from P 
- It wants to "smooth out" the corrections that the P value is pushing through the FC
- At a higher setting, it will reduce the input the P value has on the FC as it gets closer to level
The takeway is that we don't use D --- 
If you want acro:
- High P
- Low I
- Increased D
If you want smooth and stable:
- Low P
- High I
- Less D
The process for tuning is simple, but can take some time.
1. Set I & D to "0" (If you're using a KK, you don't have D settings)
2. Set P to 20 and fly the craft.
3. If it flies smoothly, increase P by 10 and fly the craft
4. Repeat step 3 until you start noticing high-frequency oscilations 
5. Back off your P settings by 10.
** You now have your ideal P setting
6. Set I to 20 and fly the craft
7. Practice descent
8. If it wobbles, increase I - then repeat descent
9. Repeat step 8
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