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Feb 18, 2015, 08:55 PM
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Yippee!

The general mini copter PID tuning thread


There seems to be a need for a PID specific thread. Especially to help the new guys coming up, and the experts get better, (and me, cuz PID'S have a magic way of testing my temper)
To start it would be nice to keep this thread clean of general chatter and have it stay PID based.
I encourage the experienced tuners to help us all and try to chime in and help answer PID questions and maybe help with tuning advise.
I am working on a kind of a fill-in-the-blank type for to help keep the info clean and easily legible.
The first few posts will be updated with users current working PIDS to set as examples for different platforms.
I will group them by being for Multiwii, baseflight, cleanflight, and any others that people would like to contribute.
A few things that would be helpful for people to include with their post would be, copter frame, esc's, (and what flash and options enabled) fc, motors, weights if possible, and flying style would help.
and lastly, please keep it polite and don't flame someone for trying to help. We all come from different experience levels and everyone is welcome to contribute.
Thanks to everyone involved!
-Ben

Little snippet I found quite useful:
P-Value: Acts on momentary changes as reported.
I-Value: Adds up values from the past to even out longer term errors that can't be addressed by P alone without constant over or undershooting.
D-Value: Looks at the current value and the value before to predict the future/next one to counteract (dampen). So it is obvious that having too much vibration or too heavy filtering affects D the most because having outdated or noisy data from the past to predict the future is not good.


From https://www.rcgroups.com/forums/show...php?p=30889295

Final glide wrote a nice review on different cleanflight pid controllers, a very helpful review for those interested.
https://www.rcgroups.com/forums/show...php?p=31044093
Last edited by Btnewman; Mar 13, 2015 at 10:28 PM.
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Feb 18, 2015, 08:55 PM
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Reserved: multiwii
Feb 18, 2015, 08:56 PM
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Reserved: cleanflight

From user Nebbian:

PID #5 (Harakiri)
Name Proportional Integral Derivative
ROLL.......2.2......0.03.......17
PITCH......2.3......0.03.......17
YAW........5.0......0.025.......10
LEVEL......9.0......0.01.......100
Roll & Pitch rate: 0.65
Yaw rate: 0.60
TPA: 0.30
RC Rate: 1.0
RC Expo: 0.20

--------------------------------
Last edited by Btnewman; Jan 23, 2017 at 10:22 AM.
Feb 18, 2015, 08:56 PM
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Reserved: baseflight
Feb 18, 2015, 08:57 PM
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Reserved: brushed
Last edited by Btnewman; Feb 18, 2015 at 09:28 PM.
Feb 18, 2015, 08:58 PM
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And one more because I can
Feb 18, 2015, 09:00 PM
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Please copy and fill in the blanks

PID # ( ) (Cleanflight)
Name Proportional Integral Derivative
ROLL.......( )......( ).......( )
PITCH......( )......( ).......( )
YAW........( )......( ).......( )
LEVEL......( )......( )...... ( )
Roll & Pitch rate:
Yaw rate:
TPA:
RC Rate:
RC Expo:
Looptime:

FC:
Esc: Flash:
Frame:
Motors:
Props:
Flying Weight:
Flying Style:
(Acro, race, photo, cruizin, avoiding the ground
Special tuning notes:
Last edited by Btnewman; Feb 18, 2015 at 11:45 PM. Reason: Open for suggestions!
Feb 18, 2015, 09:04 PM
Registered User
much needed thread. I am now starting to get a handle on it. took a while as info is very scetchy from what I have found.

This video is what helped me understand.

PID Tuning video 1 (6 min 14 sec)


and here where he acually does it in flight.

PID Tuning video 2 (8 min 49 sec)
Feb 18, 2015, 10:14 PM
Registered User
Dave Pitman's Avatar
---
Last edited by Dave Pitman; Feb 18, 2015 at 10:36 PM.
Feb 18, 2015, 10:24 PM
Zippa Flippa
nebbian's Avatar
-
Last edited by nebbian; Feb 18, 2015 at 10:43 PM. Reason: Redundant
Feb 18, 2015, 10:31 PM
Zippa Flippa
nebbian's Avatar
PID #2 (Luxfloat)
Name Proportional Integral Derivative
ROLL.......0.9......0.25.......10
PITCH......0.8......0.25.......10
YAW........5.1......0.05.......5
LEVEL......5.0......0.04.......75
Roll & Pitch rate: 0.70
Yaw rate: 0.30
TPA: 0.30
RC Rate: 1.0
RC Expo: 0.40

FC: Naze32 Acro
Frame: Zippa A tail
Props: Gemfan 5x4
Motors: DYS BE1806 2300kV
Flying Weight: 360 grams
Flying Style: Acro
Looptime: 2000Ás
ESC: KISS 18A
Feature Oneshot125

----

PID #3 (Multiwii 2.3 - Latest)
Name Proportional Integral Derivative
ROLL.......2.5......0.03.......25
PITCH......2.5......0.03.......25
YAW........8.5......0.045.......0
LEVEL......9.0......0.010.......100
Roll & Pitch rate: 0.60
Yaw rate: 0.45
TPA: 0.30
RC Rate: 1.7
RC Expo: 0.15

FC: Naze32 Acro
Frame: Zippa A tail
Props: Gemfan 5x4
Motors: DYS BE1806 2300kV
Flying Weight: 360 grams
Flying Style: Acro
Looptime: 2000Ás
ESC: KISS 18A
Feature Oneshot125

----

PID #5 (Harakiri)
Name Proportional Integral Derivative
ROLL.......2.2......0.03.......17
PITCH......2.3......0.03.......17
YAW........5.0......0.025.......10
LEVEL......9.0......0.01.......100
Roll & Pitch rate: 0.65
Yaw rate: 0.60
TPA: 0.30
RC Rate: 1.0
RC Expo: 0.20

FC: Naze32 Acro
Frame: Zippa A tail
Props: Gemfan 5x4
Motors: DYS BE1806 2300kV
Flying Weight: 360 grams
Flying Style: Acro
Looptime: 2000Ás
ESC: KISS 18A
Feature Oneshot125

---

PID #5 (Harakiri)
Name Proportional Integral Derivative
ROLL.......2.6......0.02.......45
PITCH......2.6......0.02.......45
YAW........12......0.025.......0
LEVEL......9.0......0.01.......100
Roll & Pitch rate: 0.60
Yaw rate: 0.45
TPA: 0.30
RC Rate: 1.0
RC Expo: 0.30

FC: Naze32 Acro
Frame: Zippa A tail
Props: Gemfan 5x4
Motors: DYS BE1806 2300kV
Flying Weight: 360 grams
Flying Style: Acro
Looptime: 2000Ás
ESC: EMax 12A (no braking)


Notes, these PIDs are probably not that helpful for most due to the low flying weight. I might do another set for my ZMR 250 with a more 'normal' flying weight of ~500 grams.
Last edited by nebbian; May 06, 2015 at 07:50 PM.
Feb 18, 2015, 10:38 PM
Team Warpsquad!!!
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Nebbian, JACK POT! thank you.
you also reminded me to add looptime to the base form. Also, thank you for the base outline of the form (I kinda borrowed it from another thread)
Feb 18, 2015, 11:19 PM
Micro Quad Flyer
QuadBert's Avatar
Quote:
Originally Posted by nebbian View Post
Notes, these PIDs are probably not that helpful for most due to the low flying weight. I might do another set for my ZMR 250 with a more 'normal' flying weight of ~500 grams.
PIDs for a ZMR 250 with the common DYS 1806 and Gemfan 5030 would probably be the most help to the most people.

I just wanted to say thanks for all your work testing out the various pid controllers. Also for the very detailed level of info you provide with your PIDs. Lots of people don't tell the frame, or motors, or looptime or pid controller, or rates, making the PIDs not very useful, even as just a starting point to tune from.

I know very well that one person's pids are unlikely to be right for another similar quad with even only a few differences, but if the quads are similar enough, they do give people a starting point that they can tune from that probably won't crash their quad.
Feb 18, 2015, 11:22 PM
Micro Quad Flyer
QuadBert's Avatar
Quote:
Originally Posted by Btnewman View Post
Nebbian, JACK POT! thank you.
you also reminded me to add looptime to the base form. Also, thank you for the base outline of the form (I kinda borrowed it from another thread)
I'd also add motors.
Feb 18, 2015, 11:43 PM
Registered User
just4funxwing's Avatar
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