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PID Tuning

This guide explains how to adjust PID parameters for optimal flight performance.

PID Basics

A PID controller consists of three parts:

Term	Function
P (Proportional)	Responds to current error, higher = faster response
I (Integral)	Eliminates steady-state error, maintains attitude
D (Derivative)	Predicts and suppresses oscillation

PID Parameters

Roll/Pitch

Parameter	Description	Default
`PID_ROLL_P`	Roll P gain	45
`PID_ROLL_I`	Roll I gain	80
`PID_ROLL_D`	Roll D gain	35
`PID_PITCH_P`	Pitch P gain	45
`PID_PITCH_I`	Pitch I gain	80
`PID_PITCH_D`	Pitch D gain	35

Yaw

Parameter	Description	Default
`PID_YAW_P`	Yaw P gain	45
`PID_YAW_I`	Yaw I gain	80
`PID_YAW_D`	Yaw D gain	0

Tuning Method

Step 1: Adjust P

Start from default values
Gradually increase P
When high-frequency vibration appears, reduce by 10-20%

Step 2: Adjust D

D is used to suppress oscillation caused by P
Gradually increase D
When motors get hot or noise appears, reduce D

Step 3: Adjust I

I is used to maintain attitude
Usually default values work fine
I too low causes drift, too high causes low-frequency wobble

Common Issues

High-Frequency Vibration

Symptoms: Blurry propellers while hovering, hot motors

Solution: Reduce D gain or filter cutoff frequency

Low-Frequency Wobble

Symptoms: Aircraft swaying side to side

Solution: Reduce P or I gain

Sluggish Response

Symptoms: Delayed response after stick input

Solution: Increase P and D gains

Recommended Settings

5” Freestyle

Parameter	Value
P (Roll/Pitch)	45
I (Roll/Pitch)	80
D (Roll/Pitch)	35

5” Racing

Parameter	Value
P (Roll/Pitch)	55
I (Roll/Pitch)	90
D (Roll/Pitch)	40

Tiny Whoop

Parameter	Value
P (Roll/Pitch)	35
I (Roll/Pitch)	70
D (Roll/Pitch)	25

Tuning Checklist

param save