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Old Sep 15, 2012, 06:14 AM
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The Netherlands, NH, Bussum
Joined Feb 2012
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PID's in practice

I found the seemingly best post on tuning PID's so far:
http://www.rcgroups.com/forums/showthread.php?t=1375728

After all I've read, I liken PID tuning to driving a car with a somewhat loose steeringwheel and wanting to change lanes: how much force to apply (P) to the steering wheel for how long (I) and how quickly (D) you need to make adjustments is basically what's needed to change lanes as smoothly as possible...

Tuning in short (much thanks to Shikra):

For Aerobatic flying:
Increase value for P until oscillations start, then back of slightly
Change value for I until until hover drift is unacceptable, then increase slightly
Increase value for D (remember, that means a LOWER number as it is a negative value - i.e. closer to zero) until recovery from dramatic control changes results in unacceptable recovery oscillations
P may now have to be reduced slightly

For stable flying (RC):
Increase value for P until oscillations start, then back of slightly
Change value for I until recovery from deviations is unacceptable, then increase slightly
Decrease value for D (remember, that means a HIGHER number as it is a negative value - i.e. further from zero) until recovery from dramatic control changes becomes too slow. Then Increase D slightly (remember - lower number!)
P may now have to be reduced slightly


For stable flying ( AP / FPV):
Increase value for P until oscillations start, then back of slightly
Change value for I until recovery from deviations is unacceptable, then increase slightly
Decrease value for D (remember, that means a HIGHER number as it is a negative value - i.e. further from zero) until recovery from dramatic control changes becomes too slow. Then Increase D slightly (remember - lower number!)
P may now have to be reduced slightly

You will have to accept a compromise of optimal settings for stable hover and your typical mode of flying. Obviously factor it towards your most common style.
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Last edited by RHTizzy; Sep 15, 2012 at 06:20 AM.
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