PID Tuning Masterclass - Part 3 - Yaw P Term

[@kentboehm1981]

I have been watching this entire series waiting for you to land it upside down way down in your field. Knew it would happen eventually!

[@PuttingOnTheFoil]

Great material! Keep it coming. I really like that you are showing examples of the extremes in this series. I'm getting more comfortable with tuning, but it's great to have a better understanding of how far is too far, and what is likely to smoke a motor or ESC vs. what is safe even if it's twitchy.

[@CF_Joel]

These are the BEST PIDs lesson videos!!! Thanks!

[@proporange4084]

Hi Joshua, firstly thank you for the tutorials - they are massively helpful. Secondly thank you for the end of this video... As a new FPV flyer I had a similar yet opposite experience - I was not where I expected to be and flew straight into my own face. You've made me feel a bit better about having done so. I had just got a GoPro so there is evidence on my channel if you fancy a laugh (goggles were ruined but I am fine).

[@ojkolsrud1]

3:54: "I can't believe I fell down up side down - I have to walk down [there]". It was 2017, before turtle mode=P Cool series man, even in 2021. I have a problem with the quad pitch bounce back, especially after a pitch maneuver, but also on rolls. I suspect that my I gain is too low, but I'm learning a lot here now.

[@Banda91]

Thanks for this awesome Tuning tutorials! Youre helping us a lot. Keep going on!

[@mojokeeper8603]

Thanks for the pid tune videos,with you flying and explaining what’s going helped me figure it out,I’m a hands on kind of guy & they way you did the tutorials made me feel like I was there👍🏻 I got my 5in tuned great now and my vortex 150 has very little prop wash on aggressive split-s turns thanks man🛸

[@Ensetsu981]

Joshua you are quite fun to watch😁. Anyway I'm quite happy u making these videos. cause trying on your own and have no clue what an real oscillation is then it ain't easy to tune drones. happy flying 😀

[@sunsetpark_fpv]

I LOVE a good Yaw P feel

[@therookie3719]

Hey josh these are the best tuning vids to date I watched hundreds and these are the best so far just tuning the wrong copter lol I flying to well

[@therookie3719]

It flys to well doh

[@wazzalicious722]

That was funny at the end :) interesting that the high Yaw gave more robotic feel to the flight.

[@Cc-nj2zm]

Great examples of yaw P too high, but what about too low?

[@Tenus123]

Was waiting for this, great!

[@NarcolepticLTD]

you'd mentioned the bit about sloppy turns in the last vid... I started taking yaw P term up a bit and definitely noticed a difference from stock. I know it's difficult to document a lot of this stuff as it really is up to feel, but it's much appreciated. Looking forward to the I term piece, and hoping there's a nugget in dealing with nose pitching before anti_gravity fixes (I'm tuning on kiss right now - my first fix was to drop the first TPA breakpoint that covers the lower end of the throttle range).

[@jedoug]

Thanks for doing this. Very informative.

[@ICEMAN_GLX]

holy shit Josh you nailed it that yaw p is what was holding me back I could not figure out why I could not do orbit and I was wondering why it felt like I was sliding on ice that fixed it

[@JoshuaBardwell]

AWESOME.

[@TheWorkshopByGM]

I am not sure if this happened only with me, but I was having a LOTTT of jello on my Gopro Hero 5 session, I checked everything, motor balance, prop balance, PI tuning, I tried every possible thing. I then played my Gopro footage next to my betaflight log viewer, and it turned out I had continuous high-frequency oscillations on the Yaw axis. I decreased the P term of the Yaw and the video is much better now (can nearly see the jello) but I can still see some oscillations on the betaflight log viewer not sure if I should increase the D term, will try this soon.

[@TheWorkshopByGM]

Oh, and by the way, Joshua you are a Legend!

[@kenaidiaz8009]

Should I put on slightly damaged props or brand new ones when I tune my quad?

[@adamk.3946]

with the more powerful motors, it seems like if you push yaw P too high it does cause very noticeable oscillations in the yaw axis in blackbox, and creates a shaky quad in flight unfortunately, an prop wash on turns gets bad. it's very odd and hard to tune for because it seems like D term oscillations when turning reaaallly hard when going fast.

[@goodyfpv2297]

hi really good video mate expand perfect 👌 but your 4th vidoe for the I's it's private?

[@JoshuaBardwell]

It was scheduled to release this morning. I'm not sure how you were able to even see it, since it's private.

[@saggynun1802]

standing in the wrong place is funny. I've done that a few time and it's like who's that standing in the way. "oh yeah its me lol"

[@FlyingboatsRCG]

Awesome series thanks Josh, even for us RC Helicopter rather than Multicopter types. Linked them from a thread on RCGroups. Were you going to get more detailed on the I settings? Thanks :)

[@t-producciones5138]

Such a great video! Awesome explanations. Joshua, do you have any written text on PIDs & Rates you can share. Would really like to study this in a way I can perfectly manage all PID and rate concepts. Besides of course replicating what you show here to get a better feel of what I have learned. Thank you very much for all you do and share.

[@TH-wg3rh]

Are you wearing a kilt?

[@povride276]

Hi Joshua. I fly with betaflight 3.1.6 on stock PID's , dshot600 and I'm impressed how well it flies. Befor I was flying on cc3d and pwm esc protocol the difference is massive :D. Quad is really locked in. But in only one exception. When I fly fast forward in pretty sharp angle Quad start to oscillating fast, does are very small but fast oscillations. This is only one situation when oscillations came out. I read the betaflight wiki end they say it may be to high Yaw p therm. What you think ? I will try to lower the yaw p when I will have time. Because it's super smooth on turns and normal speed straight flying. But I love fast forward flight :p. Greetings

[@vanalvinfpv7916]

hello jos I want to ask .. how do I set the pid bf fc f3 so I want to semoth?

[@kevingaby1786]

Im tuning my first scratch build and ive come a long way thanks to these vids. From motor bolts being to long to my tune. Now my drone is flying good except when i come out of loops it starts walking side to side and i cant figure out which term is cuaseing it....

[@JoshuaBardwell]

What do you mean walking side to side? Post a video...

[@pilotincommandfpv2431]

Hi Joshua. Im getting some very slight twitches back and forth on the yaw axis when my quad hovering and when it is flying straight. Do you know what might be causing this and how to fix it?

[@1grizzlyrizzo]

Do you know of any pi projects using it as a blackbox? Or see any reason why not to? I'm using a Pi Zero for video recording and wondered if I could rap it all into one device.

[@JoshuaBardwell]

I don't. I guess the main reason people don't use Pi is the weight? I don't know.

[@1grizzlyrizzo]

Just to clarify, my pi zero and pi cam plus lense conversion (metal but could reduce the weight with plastic) in total weighs 25g and my power is supplied by my quad, compared to a run cam 3 (66g) which has the same video quality. BTW I dumped gtune and converted to Betaflight, the pid tuning is going really nicely, thanks for all your tuning videos it's made the process logical and progressive. A bow to you Prof Bardwell, the winds of Scotland are being tamed. Shout out the my local club Falkirk Drone Club.

[@ryancornelius1241]

How did you manage to PID tune on the field without connecting to your FC?

[@JoshuaBardwell]

I was using in-flight adjustments. It's a tab in Betaflight that lets you tweak pids rates and other parameters in flight.

[@ryancornelius1241]

Thank you so much for and quick reply you are the best. Love your vids and see you have one about the in-flight adjustments., I Will give it a watch

[@macfosch]

Hi. Thanks for videos, very helpful even for LOS settings. After a hard yaw and after centering quickly the stick, my quad jumps by about 1 meter. I'm not sure d_yaw is still valid on Betaglight 3.1.3 (it is available in CLI but not in PID interface). Thus I have increased yaw_accel_limit from 10 to 20, however no improvement at the moment. Shall I increase it again or play with other parameters ? Thanks in advance for the advices.

[@JoshuaBardwell]

+Fosch yaw accel limit is the correct please terminate to play with. But shouldn't you be lowering it?

[@TobermoryCat]

So when you dive strait downwards from a great height will the nose yaw P drift be more apparent, feel sloppy, yaw from side to side, if the yaw P is too low?

[@JoshuaBardwell]

Sure, that sounds plausible.

[@TobermoryCat]

very poorly expressed but I hope you understand what I mean. Diving is when I notice sloppy yaw.

[@mistery79]

How are you able to change the pids without a computer? Do you have a video on this topic?

[@JoshuaBardwell]

kzbin.info/www/bejne/gKHRdICCot2gm5I

[@DutchRC]

Excellent series (again) sir :) thanks for putting in the time & work! I've got an unrelated Q: I watched your video's on the resource remapping, but can't figure out how to map servo-outs to the first 2 pins.. Can that be done?

[@JoshuaBardwell]

Just enable servo tilt int he Configuration tab. Motor outputs will shift down to 3-6 and servos will be on 1-2.

[@DutchRC]

Yeah.. I had the quad (a tiltrotor) set up like that in it's older Cleanflight setup.. No dice after flashing Beta 3.1.6 onto it though..

[@Sweetvalhalla]

Hey, i was just wondering how to go about removing yaw jump in betaflight 3.2

[@JoshuaBardwell]

First look at blackbox to be 100% sure you're not just bumping the throttle by accident. What props and motors? Over-propping the motors can slow response to the point where you sometimes get yaw jump. There is a parameter in the CLI, acc_limit_yaw, which you can lower to reduce yaw jump. But most quads without mechanical issues don't need it changed. So I would be looking first at your setup, not the tune.

[@kasperhalsas8491]

Thank you Joshua for these great and informative videos once again! Are you going to cover rates etc in this masterclass series too?

[@JoshuaBardwell]

I don't have that topic covered right now, but maybe I will add it later. I tend to think of rates as separate from PIDs.

[@kasperhalsas8491]

Thanks Joshua, Indeed they are different, but I think that it would be a good subject for a video. These videos on PIDs are great in that now only I know what to look for in each situation, and what to change. I have watched a ton of how-to tune PID videos but these ones helped me the most!

[@B33SON1]

How come Betaflight 3.1 doesn't have Yaw D? At least for me it's un-editable.

[@JoshuaBardwell]

The yaw axis doesn't have enough authority to need or make use of a D term.

[@OkiFPV]

If you hover & yaw spin when you release you sometimes see the copter slowly turn back the opposite direction. Is that an indication of Yaw P too high?

[@JoshuaBardwell]

+Okinawa FPV that would usually indicate excess I gain. Bit P is so ridiculously high here that anything is possible.

[@stehodge9049]

Soft-mount the FC and Motors, use stock pids with a 30% increase in pitch P term for long body quad and 10% increase in pitch P term for true X quad. Then the rest of the tune is in the rates. Life is much simpler that way.

[@image57]

Why didn't you put Yaw D to 0 like you did pitch/roll?

[@JoshuaBardwell]

+image yaw d is not actually D gain. It's a proxy for a different parameter.

[@xpansionteam1537]

Genius thank you

[@laforcetranquile]

do we really need to wait tommorow for the next video?

[@JoshuaBardwell]

+laforcetranquile yes.

[@danielmfpv5475]

hi! I am getting realy bad half throttle yaw twitching, maybe someone can help me. standard betaflight pids setup: aokfly rv2306 2400kv racerstar tattoo 35aX4 hglrc f4 aio realacc rfx 185 frame/ulx clone

[@Nikkuuu69]

Exactly same for me. Lots of yaw oscillation at around 30% throttle, goes away above 40%. Blackbox shows massive P oscillation on the yaw axis, so I'm turning it down to 30 and seeing if that fixes anything.

[@Reecefpv]

We need a Cinewhoop tuning video there isn't anything good out there at all. And my Taycan keeps twitching on bf 4.1.2 after soft mounts everywhere

[@pleiadianpilot5076]

Joshuah, I need more advice if possible please bro, im literally on the verge of sticking everything on ebay and walking away.. After two years flying and never tuned any quads. Ive spent over 20 hours watching your videos and uavtechs videos on tuning and blackbox and gained absolutely nothing. Quad flies okay, except for non stop yaw oscillations and snappy yaw twitches, BB says at full throttle and ZERO yaw, theres spikes on the yaw gyro showing up to 200 degrees both directions, ive raised P and I four times and gaining absolutely nothing 😭😭😭 even tried adding some D from zero D on yaw, raising I to obscene levels still doesnt lock the yaw axis when I punch throttle. I cant work out if my filters are right as i cant find a simple retard explanation of wth PT1 is, i dont understand low pass filters even after watching your videos on this, same with dynamic notch filter. I understand gyro notch filters.. But theyre turned off in 4.1 😵 Any ideas sir?

[@rtcfpv1012]

I was expecting this video to be the continuation of part 2 getting rid of the propwash. :(

[@JoshuaBardwell]

+Ronn2664 most copters will not be able to completely get rid of propwash. The pilot has to do their part to not induce it.

[@rtcfpv1012]

Joshua Bardwell got it. Thanks Josh.

[@PRESSFORDEATH]

LOL best ending

[@IrvingtonArms]

I stood in a new spot... hit myself in the goggles w my tinyhawk because I lost myself... glad it wasn't a 5 in...

[@Jrod_FPV]

Joshua... buddy..... I would have liked to see SOMETHING that indicated too high and too low P. also could have included some aggressive yaw spins and stops for each case. I'm missing the point of this video. to me it's not teaching anyone anything. I'm sorry for being a negative Nancy but this is an empty video. now I know when you say "you're going to learn something today" you mean it, because you didn't say it in this video. great other content though!

[@m1fpv]

Its the Part 1 of this series.

[@Jrod_FPV]

Mauro Ribeiro no that's roll and pitch. this is yaw.

[@m1fpv]

Oh Sorry, didn't got it right :P I kinda agree with your original comment.. the only side effect I saw on the really high Yaw P was a little propwash.

[@JeromeDemers]

he said at 0:20 sec in the video, it's a feeling and can not be shown in a video. He then describe the feeling of having a high and low P.

[@Jrod_FPV]

Jerome Demers I disagree. it is more than a feeling. it can easily be shown in a video. JB knows this and because of all of his greatness he knows he short changed us with this video.

[@951porsche951]

I like your skirt mate