How to: Fix Oscillations | I-term Tuning

[@mike216ism]

This is definitely more critical on 3" super light quads. I just spent a couple hours tuning. Betaflight 4.2.4 pids where way too much for my 6s 3". Another excellent informative video. Thanks Mark!

[@uavtech]

Thanks for sharing!

[@mike216ism]

@@uavtech your the best, im going to become a patron. You always help me no matter the question. I would love to give back. Always appreciated.

[@benettitransportllc]

Completely reconceptualized tuning for me. Thank you

[@larrymiller8643]

I really appreciate your videos. I’ve watch almost all tuning, and black box videos at least a dozen times and am slowly grasping it all. Thanks to you, I’ve been recognized on multiple occasions as a top tuner😁 Thank you again, I look forward to more tuning and black box tips as firmware updates continue to release. 🙏 BlippyFPV

[@PIDtoolbox]

That’s a great way of thinking about it. It’s very common for people to see any oscillation and immediately go to D. This should clarify what’s really needed. Would be nice to have a graphic here of the error and oscillation difference for I vs P. I oscillation is usually

[@BrandonBeans]

I really like your explanation, a new way to think of it... I tended not to think of I-term as a source of oscillation but I totally see it in your example.

[@MANTA_FPV]

wow, i think one of the best PID explanation videos 👍🏻

[@fpvraver]

I’m not even 3 minutes into your video & I already know I’m going to watch it like 10 times. I get a better understanding that way 👍👍👍👍👍👍👌Great idea setting the quad PID’s off like that. We can actually see what the PI& D are doing!!!!!! 👌👌👌👌👌👌😋😋👌

[@djilly75]

Bro that 7 inch preset worked perfect. Thank you so much

[@DMARZFPV]

Thanks for this video. Made tuning so much easier and faster. All quads locked in now! LOL

[@its_AlphaSloth]

Thank you for linking this video for me in the Ciotti stream. Going to give this a try tomorrow, let you know how it goes.

[@uavtech]

If it still wobbles, let me know. Maybe log it? Does it have logging?

[@its_AlphaSloth]

No Blackbox unfortunately. It's an Iflight Sussex f4 1s whoop board, mob6 19k motors, crs fire, it's a little porky at 27gr dry. But the I term is at 100 across the board right now, going to drop it to 90 and try again. After I get some batteries charged.

[@its_AlphaSloth]

Thank you again. This video helped get my quad flying much much better, still not prefect but a little more tuning should do the trick.

[@medrone7097]

Great video with examples that made it so clear. I also appreciated you reverse orientation when spelling out PID. l can’t wait to watch more.

[@MagicFPV]

You can remember this as “I need to P” 😂

[@scu-dub]

Or I pee daily 🤣👍✌

[@pilotgovlog9855]

I need to P, Dammn

[@lameandboard]

I need to Pee, Dude

[@BornIIfly]

Hi just what I needed but need to repair my FC first. Need to resolder my battery cables 🤦🏻‍♂️ When I’m ready, I’ll study this. Take care & happy fly’n 🤓😉😘

[@AndyM65]

now that's much easier to grasp , great stuff dude

[@leonbentolila6772]

Great explanation, a very simple way to remember and apply for best tuning, thanks for sharing

[@djilly75]

I just tried your preset on my 5" and I am blown away bro. I thought I was pretty good at tuning. I live the cli commands. Only thing I did different was my stick response slider. Yours is way up their. Lol 😂 thank you so much bro I'm going to buy you a beer right now

[@look2christ777]

That's awesome, where did you get the preset from? I need to try this!

[@djilly75]

@@look2christ777 here's a link to the presets. Remember only do bh the filter settings if you have a 32bit esc and turn on bidirectional dshot theuavtech.com/presets/

[@sashabagdasarow497]

Hi UAV. So you said, to simplify: If I term is high (and P is low) you'll get slow oscillations, increase P term to dampen that. But then you'll get fast oscillations, increase D term to cover that. But why not just decrease I in the first place, it means it's high compared to others, right?

[@uavtech]

You can. It is all the relationships between the terms. Once you have the balances correct, you want to keep them locked and push all the gains up (Master Multiplier slider) to adjust how fast the PID loop reacts to outside influences (prop wash or wind).

[@sashabagdasarow497]

@@uavtech Would increasing PID Loop frequency do the same as master gain?

[@uavtech]

@@sashabagdasarow497 no. sampling rate vs. gains strength are very different things.

[@maddercat]

I'm trying to tune a fpv wing plane, and thought I'd refer back to this. In Inav I tried to autotune it but was having all sort of bumpiness, especially in windy conditions. I upped the P term a lot and it seemed to help, but after I did a roll I got pitch oscillations and almost crashed. Any idea what the correction for a plane for this is? Should I raise the I term which is very low now, or more D? Does increasing the D term super bad effect the motor like a quad? Maybe it would make the servos go crazy or something and burn out instead?

[@uavtech]

Like a quad, if the D term is too high, it will cause servo oscillation. The D-term oscillation will occur if your airspeed is too high. Check out this video and the linked video in the description: kzbin.info/www/bejne/hoW8kJl5lsSUh6csi=rubUSu2W6V4xYUug

[@uavtech]

kzbin.info/www/bejne/sKace2uknsp2bLssi=bSzgX3XV8ujjbR7h&t=209 At the referenced spot in the above video, you can see an example of D-Term oscillation. I think that is what you had happen in Pitch from what it sounds like. So in that case, lower the D-gains. BUT IF you only raised, P-term, then maybe you are experiencing a P-term oscillation as a result of the roll move. In that case, you need to lower P or raise D on the pitch axis.

[@maddercat]

@@uavtech Yeah I realized today autotune only effects rates not pids, so that was one of my issues obviously.

[@PolD33]

REally nice explanation. I got two questions: What about feed forward? What is that? And what about the rates (s-rate, rc-rate, expo-rate)? Are the rates fully turned off? No filters, just PID and that's it? I'm new to this..Sorry for asking

[@SaschaMittag]

Hello Mark,I hope you can help me. I fly my 5 inch copter with the Supafly Smooth Medium preset. It flies excellently. Now I have built a 3.5 inch Pirat Lil Matey 2 frame with 2850kv motors and SpeedyBee f7mini stack with 6s Lipo. VTX is the DJI O3 air unit. I chose the 3/4 inch Supafly as the preset. I now have the following problem. The copter wobbles when flying forwards. I don't know how I can tune the wobble away with the PID settings. Unfortunately I don't have any experience with pidtoolbox. All screws are tight, the cables are laid out neatly. The propellers are undamaged. Do you have a recommendation for me as to how I should adjust the PID and in what ratio to make the copter quieter? It would be great if you could help me. Rocksteady does smooth out the footage, but I would like to fly without wobbles in the live image. best regards and thank you in advance for your support. Best regards, Sascha

[@maddercat]

I swear I have to watch this every time I tune my drone to lock it in, I can't remember it all even though I'm tuning about a quad a month or so. lol

[@sebdewey]

Great video thank you for this. Is it the same protocol for fixed wing?

[@uavtech]

yes

[@sebdewey]

I will try this method instead of the traditionnal "PID" method. I tried many settings on my heewing f01 but there is still some wobbling following the pitch axis.

[@uavtech]

wobbles. Reduce I-term in relation to P.

[@maddercat]

I keep coming back to this video every time I try to tune by feel. I think this is the single greatest video for explaining what's happening to a quad that's out of tune and what it will do and what to do to fix it.

[@lilloxh8999]

great video, frame swapped a cetus pro and had problems, your video helped me tune them right out, thanks for sharing

[@suicidequad]

Doesn't that mean the the whole methodology of going for PD-Balance first and then introducing I-term is flawed from the get go? I did a tune where I started from 250 Iterm, as i really like the locked in feel, and ended up with a much much lower D-gain than usually yet feels very much on point. How would you about the tuning steps given this insight?

[@sane_scientist]

NO. i program pid loops for the flight controllers i design and just about every single thing you said is wrong. PID = proportional, integral, derivative. you tune P, then D, then I. infact you can set I to 0 and the drone will still fly fine (if a little sloppy). i term is the least important and the worst thing you can do to remove i term oscillations is increase P and D, that will cause more problems than you could imagine. please stop making videos on topics you dont understand, its dangerous to newbies who dont know any better and incredibly irritating to everyone who does understand..

[@uavtech]

Sorry, but over a series of videos and years of implementing with others in the hobby and professionally, you are not correct. This is not an opinion. Other leaders in the milticopter world will agree as well and we all worked together to prove it in the Betaflight team (developers). We ran tests to confirm all that is stated is actual fact. You can review for yourself in the writeup at theuavtech.com/tuning. Hence the way that Betaflight works now with PID sliders. Please stop making statements on topics you don't understand or experience, testing, and facts to back it up. You don't know what you are talking about. This video is 3-yrs old. Way behind this as a theory at this point. It has been peer reviewed my critics (BF developers) and with the plain facts (independent testing) in front of everyone, had to come to the same conclusion that it is how stated.

[@SemiCollin]

So I have had a really bad oscillation problem on my new 10" drone, I have tried adjusting the I term and P term and no matter what combination of numbers I do it still slowly oscillates and gets worse until I end up crashing it, any ideas what could cause it?

[@uavtech]

If it is a slow wobble, it is too high of i-Term to P-term. You can drop i-Term to 0 to see if it persists. The other thing could be Motor Saturation. Are you using 24Khz PWM and how big are the motors? 10" props are a lot to spin up/down. If you need more help, jump on my discord and tag me. Logging it would be good.

[@hersheykiss9500]

ive seen it stated that P and D are for "high"-frequency errors and I is for low. I have been able to eliminate wiggles in my large 55 lb drone by merely adjusting I term. tradeoff seems to be steady state error (pitch in my case) vs wiggles, but this error is still acceptable. of course what makes frequencies "high" or "low" is dependent on your setup...

[@uavtech]

it is always D > P > i in relation to oscillation control high to low. Also check out the video at theuavtech.com/tuning The Key Relationships you need to know.

[@hersheykiss9500]

@@uavtech thanks!

[@BrainDeadEngineering]

My two Chim7's when cruising strait have pretty fast but small L&R wiggle ! I got to to try sliding something ! oh dear!

[@jackwritter1302]

Good stuff

[@SmasherFPV23]

Hello. I recently bought a Crux35 v2 crazyf411 20a aio elrs uart and od mid high throttle manouvers it has this inefficent brrrr oscillations. That one hasnt got a blackbox. Im a beginner. What can I do?

[@tizianobiella2035]

Integral (delayed response) P (proportional [to the error] response) derivative (quick response) they must be adjusted to fit the inertial mass in order to be fast but not oscillate and to correct also the minimum difference with respect to the aim.

[@uavtech]

Yup.

[@sybergato]

When I first got into this hobby it was PIDs. I like your explanation better. I will try this. IPD.

[@stuweFPV]

I'm a plane guy but this was very interesting for me too! I wish you would work as a INAV Dev and fix their autotune :) keep it up!

[@haks_123]

hey i crashed my drone into a tree and it was left there in the rain for about 6 days, i replaced everything except for the FC and ive been getting extremly hot motors at hover ever since i rescured it; i didnt touch the pids or filters before the crash and my motors never got hot. is there a high chance that my gryo is just damaged? the drone is mechanically fine.

[@uavtech]

Hard to say. If it is flying smooth and doing fast and slope flips and rolls fine, I would say NO. If not, YES.

[@haks_123]

@@uavtech it doesnt fly too smooth but it does rolls flips fine. im not the best at analysing black box data but there is alot of high frequency squigly lines (at hover) in all axes. i lock tighted every screw on the frame, and after the crash i replaced literally everything except for the frame and FC. Its also worth mentioning that the motors do this behaviour arbitrarily, there is no pattern what so ever; i.e. it would actually fly alright (medium to hot motors) but then after i come back and land to swap lipos it suddenly decides it wants to make a whailing noise and the motors get so hot that u can smell the coils burning it is anything but a pleasant smell.

[@uavtech]

1. we start with i=85/90 and P=5 --> it freaks out 2. we lower i=40; with P=5 remaining --> it flies but wobble city 3. we raise P=30 with i=40 --> wobbles are gone 4. finally, we have he full tune with i-terms back up at 85/90, higher P-terms for even better performance, and raised D-gain now to control the oscillation of the higher P-gains. Note: P and D together need to be as high as they can be for the best prop wash performance.

[@BigWillieFPV]

Great explanation thanks, I’ve got low throttle oscillations, on a 3” what advice for adjusting pids to help with that? Tbanks

[@uavtech]

Reduce ESC PWM and/or i-Gain.

[@offaxisfpv]

thanx

[@MindRiderFPV]

Trying to tune out a persistent low throttle cruise wobble on my 7”. Help?

[@uavtech]

lower i-Term. Make sure ESC PWM setting is 24khz if you can. If you ESC only goes down to 48khz, set it to that.

[@amortalbeing]

why is the I term and P term different for roll, pitch and yaw specifically? Cant we just set yaw the same as we set the other two? like 40 instead of 90?

[@uavtech]

Yaw is not a thrust axis (no prop blowing air in the Yaw direction). So it is slower to react and relies a lot on i-gain to keep the movement sustained. For Yaw, you want nice high P and i-gain generally. But if a light quad, too much P can oscillate. Moment of Inertia is typically different on Roll vs. Pitch and hence the gains are a little different. Pitch typically takes a little more damping (more D) and the gains in general (P, i, & D) can be higher on Pitch.

[@amortalbeing]

@@uavtech Thanks a lot really appreciate your kind help:)

[@scottlawrence6396]

Is this order of thinking only appropriate to certain system responses or general in nature?

[@uavtech]

General. This is just how it works for anything controlled by a PID loop.

[@brandonwoodford579]

What would cause P, and I fast ossilations on yaw? I'm dealing with this on one quad, and I just cannot seam to get it to go away, no matter what I do with p(45)and i(80) ff120, since there is no D on yaw.

[@uavtech]

Yaw is too slow for D, but you can add some if you like. Lower Pi on Yaw if you have oscillations.

[@eatshootdrive]

Thanks for the info of this, still learning. So if Im on the right track, I have micro jitters, and to solve this, I would increase the D term? Tricky stuff for beginners.

[@uavtech]

Ummmm probably not. D-term dampens for big movements, but also adds jitters and noise to the commands for.vibrations. What do you mean by "micro jitters"? Little shakes while flying straight?

[@eatshootdrive]

@@uavtech Ah OK, I'm not understanding then. Yeah, it seems there's micro jitters turning and banking. Doesn't seem to happen all the time. Flying straight and doing small movements seem fine, when it's something bigger, coming out of a shot suddenly seems to be shaking. Any thoughts?

[@uavtech]

Simply prop wash? If the motors are pushing into dirty air, it is turbulent. Check out this video: kzbin.info/www/bejne/qZXJh6KLrr2Fg7c

[@eatshootdrive]

@@uavtech I'll check it out, possibility, but its happened when prop wash shouldn't be a thing. I'll have to keep checking. Thanks for your help so far. 🤙🏼

[@rikycesari6600]

does a perfect tuning with the black box increase or decrease the flight time? I noticed that by increasing the PID a lot I have a greater absorption from the battery and the drone tends to have much less strength and is woody. Probably wrong tuning and bad tracking of setpoint increase corrections and reduce battery in short time?. Probably wrong tuning and bad tracking of setpoint increase corrections and consume battery in short time?

[@uavtech]

Likely reducing because it makes the motors work harder to keep things perfectly following the sticks (less wash, wobble, going off course).

[@markogania1891]

Hello. I just built my first dji tinywhoop. I just want to ask why it wobbles when i fly close to the ground like 3-5nches distance? Can the PID fix it or is it ground effect? Thank you.

[@uavtech]

It is probably ground effect. Yes, PIDs can make this better. Apply my Whoop preset tiny.cc/presets

[@LaLaObeRoT]

Thank you.

[@amortalbeing]

This was great! thanks a lot man

[@ghettogardens1]

I cannot connect to betaflight anymore. Any suggestions?

[@uavtech]

Bad USB?

[@ghettogardens1]

@@uavtech Turned out to be a serial bus device problem. Once I deleted them from my device manager, it solved my problem. Now I have another problem, I have lost my RSSI signal in my radiomaster TX16S. Radiomaster has been a disaster for me. This is my 5th one. Worst radio on the market. Nothing but problems. Love your videos. Thanks.

[@sudarshan_smd]

Thank you so much for this one. disclaimer: I am new to building drones. Also, I don't think I understand PID controller all that well. I've been struggling to get my Quad to fly. Been through a lot of documents and videos. My drone would wobble so much that I couldn't really make it fly/hover. This video has been a turning point for me, where I am now able to fly the drone vs not at all! So happy that I am now able to fly the drone.

[@uavtech]

Awesome!! Check out: theuavtech.com/presets and theuavtech.com/tuning as well. :-)

[@davepv9045]

That's a sub. Thx.

[@coskuarsiray]

i need help on tuning my 2s 4" quad. it is little bit overweight but flies stable. when i try to record the flight, i continuously experience wobble on pitch axis. it acts like it is driving on a bumpy road. what ever i do, even changing controller, wobble is always there. since camera has no EIS, it reflects all small amplitutde slow oscillations on video clips. i adjusted, pids with patience with hours of trying, , i adjusted filters, blackbox is almost vibration free, fc is on soft mounts etc. i am using old PWM esc board from aeesparrow square drone. This dron is actually a wifi drone but i converted it to fly with my own transmitter and a proper f4 controller. its original version was almost vibration free indoors ( with its primitive controller). what could be the reason?

[@vjvenida3991]

Big thanks! Subscribed 😉

[@hensidetv]

I should try this.. thankss

[@bernardhfox]

Thanks for all you do for the FPV community!!

[@CgitEinsteins]

Big thank you 👍🏻 iPD

[@fpvcinematic69]

Nice vid... thx you got new sub

[@scu-dub]

Makes me want to tune my rtf quad lol....I have alot of propwash that I want to get rid of this was very informative 👌 ✌

[@HummingbirdUAV]

Excellent video, helped me tune my wobbles so much it cannot fly quad into a smooth machine in only three battery packs.

[@Steve-O_FPV]

Thank you, excellent info.

[@learner_fpv9184]

holy f*ck thankyou so much, i could never understand this stuff and you just made it so easy for me and saved me breaking my quad

[@djoudigpl8625]

wich flight controller u are using???

[@uavtech]

All different ones.

[@djoudigpl8625]

@@uavtech i am using omnibus f4 v3s Its make me crazy its oscillate just when i landing the quad. (low throttle)

[@smailmilak]

This tutorial saved me! I had terrible wobble on my Betafpv 95x v3. New FC, props didn't help until I have changed the pids. Thanks UAV Tech!

[@RCSurf]

In your 5" presets you have tpa higher , what should tpa be at for this quad

[@uavtech]

? - it was the same quad.

[@RCSurf]

@@uavtech what is the tpa recomended for 5" quad , mine is the iflight cidora 6s

[@RCSurf]

@@uavtech tpa 65 and tpa breakpoint of 1750 on your 5" preset , is this still the recomendation

[@look2christ777]

I was getting some wobbles everytime I throttle up passed 50%, I drive myself nuts trying to fix it on BF, gave up, tried EMU flight and it's now gone, but what would cause that sort of wobble during a quick punch out?

[@uavtech]

Gains too high or needed more filtering.

[@p0mm3srud1]

Dont get the whole PID-thingy (yet) but at least I know who can teach it

[@platty9237]

Do you have suggestions for videos to start with? I get tripped up since beta flight keeps changing. It’s hard to tell what’s relevant to learn, and what isn’t. I hope that makes sense. TY.

[@uavtech]

PID tuning is a.constant. check out theuavtech.com/tuning

[@platty9237]

@@uavtech I’m reading now. TYVM!

[@flyingsrn]

Your content ist master class. Video by video.

[@stuart8282]

I love the explanation at the beginning with the letters. Like Sesame Street for drone people.

[@airBornFpv]

Transtec laser HD :-) Love Transtec Laser frames! Great quality carbon, not really T700, but still amazing! (be aware - motor mounts are too week, use 4 screws there if you want to bush it). Only issue is props in view. Surprised how well it flue with D term 5!!

[@RCOverKill]

Good tuning tips Mark, thanks a lot!

[@Shauny_D]

What would the FPV world be like with out you?! Cheers Mark! You keep us all in the air.

[@BmoreVisuals]

That was extremely helpful just like the rest of your content, great job!

[@845eicuepmyqq9o]

Love this! Please do more videos like this!

[@bkfpv]

Great stuff. Very educational. Thanks for sharing.

[@ScoutFPV]

You explain this the best thanks for doing these vids!

[@azfpv5967]

big help as usual....also like the outro music

[@jb-fpv7384]

nice approach i am gonna test it out, will it work as well even on emuflight?

[@uavtech]

Of course. Emu is 99% Betaflight.

[@mantyfpv7409]

Hell yeah im just starting to try tuning and this helped me out so much thank you dude

[@jtaraskus]

As usual best explanation ever :)

[@patrixfpv]

Thank you very much and as always a very clear explanation. Would be nice to see how to tune for I-term

[@uavtech]

check out Patreon video.

[@CapungPlastik]

Interesting.. definetly I'll try this concept of tuning.. :)

[@divingfalconfpv4602]

Watching ur videos all over. I got a drone (lightweight 5" long range low power) I went to iNAV and not wont fly on 6S. at first couldnt even hover bad fast oscillation. Lowered everything to default and not my BF tune i put into iNAV. I upped gyro filtering too. I have no vibrations it looks like. But at higher throttle going up it oscillates bad. Fast oscillations like it feels like it wants to run away. been slowly raising D term now. BF PIDS were like P58 I87 D42 INAV started at BF then went to Default P40 I30 D23. Increased D to 30. it helped a lil. Now increased to 40. see if it helps. Hoping I can get this flying good in iNAV want to use it for long range in TN. Roadtrip from NY to Tn just to fly this drone long range lol. It did fly fine in beginning on 4S. Havent tried again Wish you lived near by. Pay you to fix it lol actually reading description ur only hour and a half from me. Im in Wappingers falls NY

[@uavtech]

Sounds like noise issue. Join the Patreon and throw up a log.on with raw noise recorded (debug = Gyro_Scaled in BF or Gyro in iNAV) and we can take a look. HD or DVR helps too.

[@divingfalconfpv4602]

@@uavtech I got it flying good for awhile. But giving me issue again lol. Think it's just battery too big and vibrates a lil at times.

[@Ger.FPV2023]

Great explanation! Thanks very much for this! 🙂

[@johndaniels3889]

brilliant video thanks

[@aerialimagery3216]

Thank you! I have always wondered, why is there no slider for the I term only? Also, where did you get the go pro mount for your frame?

[@djilly75]

Brain3d has all tge mounts

[@uavtech]

There kind of is between the Master and P and D Gain slider. Brain3D: www.brain3d.co/collections/gopro-mounts-gopro-protection/products/adjustable-angle-universal-gopro-session-mount?variant=25919723344

[@aerialimagery3216]

@@uavtech awesome, thanks! Love the Laser HD frame. I just got a Transtec Beetle 2.5” with air unit and it came with stock BF 4.2 pids. It’s a heavier 2.5” and has a lot of jello even in a hover. What pids do you think I should adjust? I set up RPM filtering and I have the filters all the way to 2.0 but that did not help the Jell-O at all.

[@Vizr]

I heard you call KISS BetaFlight 3.2? Can you make a video explaining why?

[@uavtech]

Sure.

[@MCsCreations]

Pretty interesting, Mark! Thanks a lot! 😃 Stay safe there with your family! 🖖😊

[@DronemanfromNepal]

i still get mid throttle oscillation after RPM filtering bf 4.2 . What should I start twitching around ?

[@uavtech]

Try 48k pwm with RPM enabled and Dyn Notch max of 600hz.

[@DronemanfromNepal]

@@uavtech in blheli suite ????

[@uavtech]

@@DronemanfromNepal yup.

[@DronemanfromNepal]

@@uavtech thnx man !!! now where to enable dyn notch to 600 hz . thnx again

[@uavtech]

@@DronemanfromNepal in Filters Tab. At bottom left. Set min to 125 and Max to 600.

[@beargrillz613]

Can i get a bit rid of propwash at my quad its a betafpv v3.. I feel it has really a lot of..

[@uavtech]

Raise P and D Gain slider.

[@BikeGuyFPV]

Would you do a tuning video for a 12s Xclass rig spinning 13" props? (filters, PIDs, etc).

[@uavtech]

I don't have one. It is same process as 5" thru 10" i reckon. But outcome may be different.

[@1CBRFireblade1000rr]

What about yaw? My quad wobbles all over the place when i give it full yaw. Can I use the same technique used for roll and pitch?

[@uavtech]

Yes, just move back one term. For Yaw, just tune P and I.

[@1CBRFireblade1000rr]

@@uavtech Thanks for the quick reply. Will give it go after watching some more of your videos. :)

[@zeezy1976]

@@1CBRFireblade1000rr q²ww

[@tomassliauteris884]

The best PID explained video ever!!!

[@hristiantodorov3923]

Is it possible to have an auto tune PID feature in betaflight ?

[@uavtech]

Other FW has tried it, and it never worked well. I'm not saying it is impossible to get working great, but it would take a team to be very dedicated to it for probably a year or more to prefect and keep optimizing. It is not easy to detect a stepped response in a constant stream of data flow with no storage space and only 210Mhz process that is 80% utilized with flying the thing already. Even at 400Mhz (H7) that's not much for that kind of processing.

[@hristiantodorov3923]

@@uavtech Which were the FWs that tried it ?

[@SiamFpv]

Really usefull video thanks for sharing this ! Also subbed 😉

[@rawpicsfpv3516]

What setup is that quad? Looks really compact and clean!!

[@uavtech]

It is the DJI quad: store.dji.com/product/dji-digital-fpv-system?vid=83421 You can get all the components separately and build yourself. You don't need to get from DJI's store. They just have it there for folks first buying the FPV system to pick up a quad as well.

[@RubyS.1]

Watching this and the 10 inch patreon video really displays that moment of inertia. The 10 rolled fast and stopped fast but you could see it was working to stop. This 5 inch just stops.

[@jb-fpv7384]

how come on ardupilot pid defaults the I terms are so low? If this applies too for ardupilot

[@uavtech]

If you do not have i-Term Clamping, (i-Term Relax) and/or a way to give advanced push to the motors on sharp stick moves (Feedforward), you have to artificially push down i-term to compensate or you get i-term boumceback.

[@richardruckert7954]

Hi...thank you for this Newb question...how do you know where to start? If I build a quad and the FC has the latest firmware does that flash include a 'stock' PID tuning to work from? If not, what values would I enter to start the tune from?

[@uavtech]

Stock should be ok. You can hone in a little further then on theuavtech.com/presets and if you want to eventually tune, check out theuavtech.com/tuning

[@richardruckert7954]

@@uavtech Thank you.

[@T1Ledlie]

If you watch the tips of the props, they bounce when he punches throttle.

[@uavtech]

Yup, blade tips always move around in flight.

[@ibnfpv]

Great work!

[@TERBANGFPV]

So for each quad size, can it have same I gain value.. Or bigger/smaller quad will have lower/higer I value? Based on what? Power to weight ratio or just the AUW of the quad..

[@uavtech]

I has a wide window. The best way I know how to tune it is you want it strong enough that I-term doesn't wind up a bunch on any given axis in flight to compensate for a low gain. For that, I look at the logs.