jpsabo's blog archive for August, 2011 - RC Groups
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Archive for August, 2011
Posted by jpsabo | Aug 28, 2011 @ 12:28 AM | 10,451 Views
A collection of links about PIDs and tuning


PID controller involves three separate parameters: the term Proportional, the term Integral and the term Derivative. The variation of each of these parameters alters the effectiveness of the stabilization.

Applied to a multirotor, the coefficients of these parameters can be translated by their behaviour:

Proportional coefficient: alone, it may achieve stabilization. This coefficient determines the importance of action on the engines in relation with the values measured by the gyroscopes. The higher the coefficient, the higher the tricopter seems more “rigid” versus angular deviation. If it is too low, the multicopter will appear soft and will be harder to keep steady. One can “feel” this setting by handling the tricopter and trying to change its orientation: the higher the parameter, the higher the opposition is important. In practice, this parameter must be set alone and increased up to be the limit for obtaining small oscillations. If too high, the system becomes unstable by amplifying the oscillations.

Integral coefficient: this coefficient can increase the precision of the angular position. In practice, when the tricopter is disturbed and its angle changes, the term Integral remembers the disruption and apply a correction to the engines to get the right angle. We can see this term as an heading hold factor. Typically if
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Posted by jpsabo | Aug 14, 2011 @ 04:03 PM | 4,206 Views
Posted by jpsabo | Aug 14, 2011 @ 11:19 AM | 4,525 Views
I've used these motors on 2 quads (frames from and have been pleased with their performance. I have a third build planned with these motors as well.
Posted by jpsabo | Aug 14, 2011 @ 10:32 AM | 4,794 Views
For those using the Quadrino MultiWii controller from witespy (, here is a record of the PID changes I have made for v1.7 (Quad X) and v1.8 (Quad X and Quad +) of the MultiWii software.

You can get the controller here (2 versions, basic and advanced, are available):
Posted by jpsabo | Aug 14, 2011 @ 10:20 AM | 4,644 Views
I've used these ESCs in 2 builds (Fyetech FY90Q and Quadrino MultiWii) and have been happy with their performance.

User guide:
US Source: