{"id":1730,"date":"2023-11-19T11:59:06","date_gmt":"2023-11-19T10:59:06","guid":{"rendered":"http:\/\/domotics.fr\/?p=1730"},"modified":"2023-11-19T11:59:06","modified_gmt":"2023-11-19T10:59:06","slug":"drone-reglages-des-pid","status":"publish","type":"post","link":"https:\/\/domotics.fr\/index.php\/2023\/11\/19\/drone-reglages-des-pid\/","title":{"rendered":"Drone r\u00e9glages des PID"},"content":{"rendered":"\n

https:\/\/drive.google.com\/file\/d\/1WxgSUsG6UnvXjyxJSsAdw9iqoO21Ddmq\/view<\/a><\/p>\n\n\n\n

Your quad is controlled by what is known as a PID loop. As we are doing flips and rolls we are changing
the \u201cCommand\u201d (what we know as the Setpoint in the quad world [a.k.a. the sticks]), causing the PID loop
to react. The goal of tuning is to tweak the PID loop so that it achieves the fastest response to commands
possible, without overshooting\/oscillating. These Principles apply for ALL PID CONTROLLERS! ANY flight
firmware and ANY quad copter class. The guide and videos focus on Betaflight because it is the most
widely used firmware in the hobby for freestyle and racing. But the same principles apply to: FalcoX, KISS,
iNAV, Cleanflight, EmuFlight, Baseflight, etc. They all use a PID controller!
In this example, \u201cCommand\u201d goes
from 0 to 110% at time zero. The
PID loop then reacts to move the
machine – in our case the quad – to
the new value. The Command line
is our sticks. The red, green, and
yellow lines are different gyro
(quad movement) responses based
on different PID tunes.
You want a tune that produces a
\u201cCritically damped\u201d response
(measured by the gyro feedback to
the PID loop).
Tuning your quad copter is an easy process involving the below 4 key steps. It only takes 1 or 2 packs. It
can be done Line-of-Sight (LOS), with FPV goggles, or using Blackbox. I use Blackbox a lot because it helps
to understand what is happening (to explain it) and also it gives the most precision in tuning, but it is NOT
necessary to use blackbox to tune your quad.
The steps are outlined in more detail below. Steps #1 thru #3 are critical for good general flight
performance, including:
\uf0b7 good prop wash handling;
\uf0b7 no wobbles or oscillations;
\uf0b7 no \u201cthrobbles\u201d (bobble of the nose on
throttle punches);<\/p>\n\n\n\n

\uf0b7 good reaction to wind
\uf0b7 tight stick tracking (direct feel).<\/p>\n\n\n\n

Step #1 \u2013 Tune your Filters \u2013 The PID controller can\u2019t work well if it\u2019s fighting vibrations in the gyro signal
Step #2 \u2013 Tune \u2018P\/D Balance\u2019 \u2013 Every quad has a specific P\/D Balance that we need to find
Step #3 \u2013 Tune \u2018PD Gain\u2019 gain \u2013 increases the speed of the influence (force) the PID gains exert on the<\/p>\n\n\n\n

motors<\/p>\n\n\n\n

Step #4 \u2013 Tune FeedForward (\u201cFF\u201d) \u2013 Adding a fourth control term to reduce the inherent latency in a<\/p>\n\n\n\n

standard PID controller<\/p>\n\n\n\n

Page 2 of 8<\/p>\n\n\n\n

Step #1 \u2013 Tune your Filters:
a) Setup your quad using the new RPM filters. See Betaflight 4.1 Filter Setup – RPM Notches are the
Future! for details on that process. The advantage of RPM filters \u2013 FOR ANY QUAD CLASS \u2013 is twofold:
1) the RPM filters more accurately track and crush motor peak noise. 2) it frees up the Dynamic Notch
to look for and track frame resonance or other peaks of noise (antennas vibrating, frame cracked,
etc\u2026) and crush it out. Once RPM filters are setup per the video (with the Dynamic Notch
adjustments) move on to Step b).
b) Work up the lowpass filter sliders TOGETHER at the top of the Filters tab to try to get to a 1.5 or 2.0.
With the other settings (as outlined in the video above) this will result in a reasonable balance of filter
delay savings vs. not going too low and under filtering your quad. MILEAGE HERE WILL VARY! So do
it slowly moving up one or two steps at a time with full throttle \/ hard move flights in-between.<\/p>\n\n\n\n

CHECK YOUR MOTOR TEMPS as you move up the sliders. Listen for excessive noise (grinding) sounds
on the motors at idle or during flight. Do prop wash turns and sharp moves. See if things are getting
better or worse as you move up the sliders. If better, move them up some more. If worse, stop and
move back one position. It is possible that motor will not be hot, but flight performance can get worse
with higher filters (noise to signal ratio gets too high on D-term). Use your senses and perception on
if prop wash is getting better or worse as you move up the sliders.
OPTIONAL: Do a blackbox log with the following settings in the BlackBox tab:
Do a full throttle and hard moves flight. Do NOT hit stuff and avoid any
ground bouncing at the beginning or ending of the flight (not critical, but
can throw analytical tools off if not trimmed out). Look at a spectrum of the
Gyro signal and D-term signal. Make sure all peaks of noise are completely
crushed out in the gyro signal spectrum and that the D-term signal doesn\u2019t
have excessive noise between 100hz and 200hz.
For a video guide on the flight and looking at logs to tune up your filters, see:<\/p>\n\n\n\n

  1. PID Tuning Principles: Step #1 – Filters Tuning (guide on getting the raw noise log)<\/li>
  2. PID Tuning Principles: Step #1 Follow-up – Finalize YOUR Filters (how to customize your filters)
    For the basics on filters OR an in-depth understanding of how filters work and what \u201cphase delay\u201d is, see
    my Filter Fundamentals series.
    In general, you want to use Gyro filters to crush out any motor peaks of high frequency vibrations
    (\u201cnoise\u201d). Then use the D-term filtering to tame the D-term property of doubling gain response to<\/li><\/ol>\n\n\n\n

    noise as the noise doubles in frequency. Meaning, higher frequency noise (100hz+) drives the D-
    term to go crazy, resulting in vibrations in smooth flight or HOT motors.<\/p>\n\n\n\n

    Figure 1: Gyro and D-term (lowpass) Filters sliders in Filters tab<\/p>\n\n\n\n

    Figure 2: Blackbox Setting in Blackbox Tab<\/p>\n\n\n\n

    Page 3 of 8<\/p>\n\n\n\n

    Step #2 \u2013 Tune the \u2018P\/D Balance\u2019:
    Paste the below into the CLI tab in BF. This will
    turn off all the BetaFlight advance PID control
    features; features that push the PID controller
    beyond basic fundamentals. Once pasted, do a
    flight with lots of flips and rolls (Line-of-Sight or
    FPV), sharp stick inputs back and forth, and keep
    increasing P-gains until you see sharp bounce-back. For LOS or FPV you really need to listen for it vs. seeing
    it (it is so fast). It is easy to visualize however in blackbox (BBL). You can set your D-gains to the same
    number for Pitch and Roll based on the noise floor after your filtering setup in Step #1. This is subjective
    based on how noisy you want your D-term signal to be to the PID Sum. Best advice is 30\u2019s or 40\u2019s for a 4S
    5-in quad. For 6S 5-in quad could be down in 20\u2019s and 30\u2019s. For a brushless whoop, more like 60\u2019s or 70\u2019s.
    You want to keep raising P-gains until you start to get overshooting based on sharp stick inputs
    and then back it down a little to get the \u201cCritically damped\u201d stepped response (see Figure 7).
    Again, it is easiest to listen for it LOS or FPV. To see it check out a BBL.
    For a video guide on this step, and what to look for in blackbox, see:
    PID Tuning Principles: Step #2 – Tune the PID Controller (P\/D Ratio)
    CLI commands to paste and save before completing Step #2:<\/p>\n\n\n\n

    PID Gains Settings<\/h1>\n\n\n\n

    set d_min_pitch = 0
    set d_min_roll = 0
    set f_pitch = 0
    set f_roll = 0
    set f_yaw = 0<\/p>\n\n\n\n

    PID Controller Settings<\/h1>\n\n\n\n

    Set pidsum_limit = 1000
    set pidsum_limit_yaw = 1000
    set feedforward_transition = 0
    set abs_control_gain = 0
    set use_integrated_yaw = OFF
    set iterm_relax_cutoff = 10
    save
    Once you have found the proper P vs.
    D ratio (Balance) you can re-enable
    the PID tuning Sliders and move them
    around (between \u201cMaster Multiplier\u201d
    and \u201cPD Balance\u201d) to get close to the
    numbers you had set manually. NOT
    all quad classes will be covered by the
    sliders extent. So if you are tuning a whoop, toothpick, or 10-inch they may not be flexible enough to suit
    your needs. Betaflight defaults and slider extents were design around a 6S – 5\u201d quad.
    As we are doing the flips, rolls, and half rate moves (as show in the above video) we are drawing out the
    Stepped Response in the PID controller. THIS IS HOW YOU TUN A PID CONTROLLER; period! See Figure 5
    for how the different terms impact the quads performance and Figure 7 for a description of what a
    \u201cCritically damped\u201d Stepped Reponses looks like.<\/p>\n\n\n\n

    Figure 3: PD Balance in PIDs tab<\/p>\n\n\n\n

    Figure 4: Enable Sliders button on PIDs tab<\/p>\n\n\n\n

    Page 4 of 8<\/p>\n\n\n\n

    A Deeper understanding of Stepped Response tuning:
    Figure 5 below, shows a summary for what increasing one term will do when keeping the other two
    constant. For example looking at the top row in the table, holding I-term and D-term constant and
    Increasing P-term will:<\/p>\n\n\n\n

    1. Decrease Rise Time (speed of quad moving to match the stick commands);<\/li>
    2. Increase Overshoot (if excessive);<\/li>
    3. Small Increase of Settling Time (if excessive);<\/li>
    4. Decrease Steady-State Error (when optimal);<\/li>
    5. Degrade Stability (if excessive).
      THE KEY is to have the right balance of P and D term to get a \u201cCritically damped\u201d Stepped Response
      (see Figure 7). The CLI paste in Step #2 above helps us isolate P & D gains to find the perfect balance!<\/li><\/ol>\n\n\n\n

      Effects of Independent P, I, D, and FF tuning<\/p>\n\n\n\n

      PID Term to Change Rise Time Overshoot Settling Time Steady-State Error Stability
      Increasing P-term Decrease Increase Small Increase Decrease Degrade
      Increasing I-Term Small Increase Increase Increase Large Decrease Degrade
      Increasing Dmax-term* Small Increase Decrease Small Decrease No Impact Small Improve
      Increasing Dmin-term* Increase Decrease Decrease Minor Change Improve
      Increasing FF-term Large Decrease Minor Increase No Impact Can Increase** No Impact<\/p>\n\n\n\n

      • when D_min is enabled, it is the D-term in the PID controller. Only on sharp inputs does the active D-gain go to Dmax. See \u201cFF
        induced overshoot:\u201d in Step #4 for more details.
        ** through unstable RX signal (Cross Fire, R9 and all FrSky rx\u2019s)
        Figure 5: Effect of PID changes (source: http:\/\/eprints.gla.ac.uk\/3815\/1\/IEEE_CS_PID_01580152.pdf)<\/li><\/ul>\n\n\n\n

        Figure 7 outlines the above terms. As we are doing flips and rolls we are
        changing the \u201cCommand\u201d (what we know as the Setpoint in the quad world
        [a.k.a. the sticks]), causing the PID loop to react so we can see how it manages
        the change (the Stepped change Response). We want to do this with both full
        rate and half rate moves to see how it manages these two things to optimize
        the tune.
        Again, the CLI paste helps us to isolate the P and D terms (turns off FF and
        getting I-term out of the way) so we can adjust P-term to determine the
        optimal P\/D Balance (ratio); looking for the \u201cCritically Damped\u201d PID response.
        This means the highest P\/D Balance possible without overshoot!<\/p>\n\n\n\n

        Figure 7: Stepped Response diagram.<\/p>\n\n\n\n

        Figure 6: Analog of PID terms<\/p>\n\n\n\n

        In this example, \u201cCommand\u201d goes
        from 0 to 110% at time zero. The PID
        loop then reacts to move the machine<\/p>\n\n\n\n

        • in our case the quad – to the new
          value. The Command line is our sticks.
          The red, green, and yellow lines are
          different gyro (quad movement)
          responses based on different PID
          tunes.
          You want a tune that produces a
          \u201cCritically damped\u201d quad movement
          response (measured by the gyro
          feedback to the PID loop).<\/li><\/ul>\n\n\n\n

          The Goal PID
          Response<\/p>\n\n\n\n

          Think of the PID
          controller like a
          strut on your car.<\/p>\n\n\n\n

          Page 5 of 8<\/p>\n\n\n\n

          Step #3 \u2013 Tune \u2018PD Gain\u2019 gain:
          With the \u201cP\/D Balance\u201d for your specific rig figured out WE NEVER WANT TO DO ANYTHING TO CHANGE
          THAT as we increase gains or reintroduce the advance PID controller parameters (FF, D_min, etc\u2026). The
          PID sliders are built with that fundamental in
          mind and are there to help speed things up. With<\/p>\n\n\n\n

          this understood, this step is to increase both P-
          gains and D-gains TOGETHER to get better prop<\/p>\n\n\n\n

          wash handling and closer tracking to the stick
          inputs (Setpoint).
          \u201cP\/D Balance\u201d = P-gain \u00f7 D-gain.
          e.g.: 60 (P-gain) \/ 35 (D-gain) = 1.71 (P\/D Balance)
          In the above example we have a 1.71 P\/D Balance ratio. Therefore, if you increase D-gain from 35 to 40,
          you need to increase P-gain from 60 to 68 (40 (new D-gain) x 1.71 = 68 (new P-gain)). If you use the P and D Gain
          slider to move up the terms, it holds the PD Balance automatically.
          Do prop wash inducing moves (180 turns or split-S moves). Push up your P and D gains to reduce
          prop wash. As you are moving up P and D gains, you will get to a point where the higher D-gains could
          start to cause motor heat or vibrations in smooth forward flight (typically gains of 40 to 60 on a 4s 5-inch
          OR 30 to 40 on a 6s 5-inch). Also, you will hit a point where prop wash will not get better. This point is
          called \u201cmotor saturation\u201d and is due to motor\/prop mechanical limitations. You can see this in flight just
          by things not getting any better or by looking at the Motor Command traces in a blackbox log (they hit
          100% for 1 or 2ms). THIS IS THE POINT YOU WANT TO BE AT for the best tune you can have on your quads
          specific mechanical setup. The ONLY way to improve prop wash handling from this point is making
          mechanical changes. The cheapest way is finding the best (lightest) props to match your motors(not under
          or over propped), your desired response curve\/feel, and your durability preference. So if you can\u2019t shake
          that last big of prop wash to your desired liking and you have followed these practices to a tee, it is a
          mechanical limitation; not the firmware.<\/p>\n\n\n\n

          Figure 8: P and D Gain slider in PIDs tab<\/p>\n\n\n\n

          Page 6 of 8<\/p>\n\n\n\n

          Step #4 \u2013 Tune FeedForward (\u201cFF\u201d):
          Step #4 is ONLY important if you want to sharpen up stick responsiveness (typically for racing). Maybe
          freestyle pilots like FF = 0 for smoother feel.
          Once you have the P and D gain strengthsto a point
          where you are getting motor saturation when
          trying to induce prop wash, you can still push the
          PID controller further with Betaflight\u2019s advanced
          PID controller features. FeedForward (\u201cFF\u201d) will
          provide an additional push (alongside P-term) to
          get the quad moving for sharp stick commands. FF-terms are based on the speed of your stick moves; like
          the mouse accelerator on your PC or Mac. FF is similar to a D-gain, except it is based on the sticks (not the
          gyro like the D-term) and pushes the quad (instead of dampens like the D-term). FF is mostly about feel,
          so increase as you see fit (or don\u2019t) to get the desired feel.
          DON\u2019T BE AFRAID TO USE HIGH FF GAINS (300+)! In my experience, a 4S – 650g – 5\u201d quad may need FF
          gains as high as 300 to have the Gyro completely track the Setpoint for rates that top out at 1020 deg\/sec.
          For a video guide on this step, see:
          PID Tuning Principles: Step #4 – Tuning FeedForward and D_min to Track Setpoint
          FF induced overshoot: As you increase FF-gains, the quad may start to get some minor overshooting.
          This is much less of an issue in BF 4.1+ than ever before because some code was added to detect and shut
          off the pushing of FF as it saw it was
          approaching the target. However, if<\/p>\n\n\n\n

          you do have some overshooting, re-
          enabling D_min can address the<\/p>\n\n\n\n

          overshooting by the added push of FF.
          Once D_min is activated the \u201cD_min\u201d column adds to the
          PID gains grid (Figure 10). The D_min column is now
          your base D-gains in normal forward flight! The quad
          will spend most of the time flying at the D_min value.
          The \u201cDerivative\u201d column is the boosted D-gains in sharp stick input and during prop wash (aka \u201cD_max\u201d).
          A typical D_max setting that addresses any FF overshooting is approximately equal to your P-gains. If
          you are using the sliders, they automatically keep an appropriate ratio.
          A deeper understanding of D_min:
          Once you activate D_min, the quad will fly with D = D_min. If the quad needs more D-gain due to sharp
          moves, prop wash, etc, it will ramp up to D_max (the value in \u00ab\u00a0Derivative\u00a0\u00bb column) in order to combat the
          move \/ induced error. D_min boosts the active D-gains during prop wash detection as well. You can raise
          the \u201cD_min Gain\u201d value (shown as \u201c27\u201d in Figure 10) to increase the sensitivity of prop wash detection.
          Default is 27 but you can increase as high as 50 to make D_min raise the active D-gains sooner and stay
          higher longer. However, this will increase Rise Time for stick moves as the active D-gain will boost sooner
          in sharp stick moves. See the below videos for more on the D_min feature:
          D_min Details and use for Noisy rigs to reduce filtering: https:\/\/youtu.be\/n8iwIcJSuWs
          D_min as \u201cD_Boost\u201d for a high performance tune (what we want): https:\/\/youtu.be\/RtsQwGVTHg4
          Figure 9: Stick Response Gain slider (FF slider) in PIDs tab<\/p>\n\n\n\n

          Figure 10: D_min Activation
          IMPORTANT:
          With D_min active, these
          are base D-gains NOW.<\/p>\n\n\n\n

          D-max Gains (boosted
          gain values on sharp
          moves and in prop wash.)<\/p>\n\n\n\n

          Page 7 of 8
          Once you are all done, you should have a tune that the Gyro
          completely tracks the sticks (the most DIRECT feel possible) and
          combats prop wash, wind, wobble, bobbles, etc\u2026 up to your quad\u2019s
          mechanical limits.
          Step #5 \u2013 Yaw tuning: yaw is a very slow axis to respond to stick commands (Setpoint) when
          compared to roll or pitch. Most of the influence for yaw is through motor\/prop inertia shifts (2 motors
          speed up and 2 slow down). Therefore, it typically doesn\u2019t overshoot Setpoint and hence D-gains in BF for
          yaw are defaulted to 0 negating the D-term opposition to P-gains on yaw (but is a gain you can adjust if<\/p>\n\n\n\n

          desired). To increase the initial push of yaw, like other axis\u2019s, increase your P-gains. If you add in Yaw D-
          gain, it will oppose that push requiring higher P-gains. This will give yaw an initial jump to get things<\/p>\n\n\n\n

          moving. However, since so slow to react, yaw requires a much higher I-gain to keep it tracking Setpoint.
          Like with I-term tuning in Step #6, it is best to tune yaw through blackbox and looking at how well the yaw
          axis gyro reading is tracking the yaw axis Setpoint as you do sharp yaw moves. Then apply the principles
          of Step #2 to the yaw axis. I find you need a HIGH P-gain and I-gain on yaw (P = 80 \/ 90 and default I-gains).
          For a video guide on this step, see: PID Tuning Principles: Step #5 – Yaw Axis Tuning<\/p>\n\n\n\n

          Note in BF 4.0+, the Yaw I-gains are multiplied by 2.5 in the code to give an even higher I-
          gain control on Yaw. So in earlier versions of BF (3.5 and lower) Yaw I-gains are way too<\/p>\n\n\n\n

          low.
          Integrated Yaw feature in BF 4.0: If activated this changes the advice above. Note the
          paste in Step #2 disables Integrated Yaw for the time being until this new yaw tuning
          approach can be vetted (with Absolute Control) and this guide can be updated. If you want
          to play, knock yourself out. If you want to keep it simple, keep Integrated Yaw disabled.
          Step #6 \u2013 I-term tuning: With the addition of the i-Term Relax feature in BF, you can run very high<\/p>\n\n\n\n

          I-gains without negative ramifications. The best way to tune I-term is through feel or blackbox. Higher I-
          gains will make the quad track the Setpoint more accurately in sweeping turns. It will also make your quad<\/p>\n\n\n\n

          feel a little stiffer for entering sharp moves. In the end, it is not that touchy of a term\/gain. So the best
          way is to get everything else set and then get a backbox log and see how well the quad is tracking the
          Setpoint through sweeping moves\/turns.
          If the Gyro trace seems to run high or low of the Setpoint for an extended period of time, you need higher
          I-gains. If you have very, very slow bouncing of the Gyro trace above and below the Setpoint trace, that
          means your I-term is too high (this would be very rare and require I-gains of 100+ in most cases \u2013 look for
          a 4-leaf clover that day and play the PowerBall!). In most cases, quads fall within the large window for
          decent I-gains set by the Defaults so typically little focus is placed on I-term tuning. But generally racers
          want higher I-gains for better tracking in broad and tight turns so try raising them up a bunch (20 or 30)
          and see how you like it for around the track. If you like a more loose feel for free style, try lower I-gains
          and maybe even FF = 0 for smoother molasses HD footage.<\/p>\n\n\n\n

          Page 8 of 8<\/p>\n\n\n\n

          DEFINITIONS:
          \u00ab\u00a0Overshoot\u00a0\u00bb: is when you induce a change the desired roll, pitch or yaw rotation rate and the quad
          moves to match your new commanded rate (in deg\/sec) but overshoots the target. This
          is also known as \u201cbounceback\u201d when referred to as motion seen in the FPV feed, LOS, or
          in blackbox logs at the end of sharp flip or roll. So the term \u201cbounceback\u201d is the quad
          overshooting the commanded change in motion and hence has to \u201cbounce back\u201d to the
          commanded rate. Looking at Figure 7 above, overshoot is a sign of an \u201cUnderdamped\u201d
          PID controller; not a good PID tune.<\/p>\n\n\n\n

          \u00ab\u00a0Bounceback\u00a0\u00bb: is the quad doing a small shutter (or shake) at the end of a sharp flip or roll. You can see
          bounceback in your FPV feed, HD footage or blackbox log. It is typically the quad going
          past the desired roll or flip rate (Setpoint) and bouncing back to the Setpoint. Looking at
          Figure 7 above, bounceback is a sign of an \u201cUnderdamped\u201d PID controller; not a good PID
          tune.<\/p>\n\n\n\n

          If the Bounceback is fast:<\/p>\n\n\n\n

          • If the quad seems to go past the Setpoint and bounce back to the Setpoint, that means
            your P\/D Balance is too high. Either increase D-term or reduce P-term.<\/li>
          • If the quad seems to stop short of the Setpoint and then bounce further to hit the
            Setpoint (rare), that means your P\/D Balance is too low (see Figure 7 \u2013 Overdamped
            condition). Either reduce D-term or increase P-term.
            If the Bounceback is slow:<\/li>
          • That is I-term windup causing the I-term to drag the quad past (or stop short) of the
            Setpoint and then it slowly adjusts back (or forward) to the Setpoint. HOWEVER, with
            the CLI paste in Step #2 above, setting the \u2018i-Term Relax\u2019 feature to a cutoff of \u201c10\u201d
            will prevent I-term windup from dragging the quad past the Setpoint. For more on
            the i-Term Relax feature, see: https:\/\/youtu.be\/QfiGTG5LfCk<\/li><\/ul>\n\n\n\n

            \u00ab\u00a0Setpoint\u00a0\u00bb: is what you are telling the quad to do. For example: when you do a sharp roll, the Setpoint
            ramps from a rotation rate of 0 degrees\/second roll rate to what you have your max roll
            rate set to in the Rates tab. We tell the quad the roll, pitch and yaw rates with our TX
            sticks (the rest is just throttle amount) and the PID loop controls the quad getting to and
            sustaining the commanded rates (Setpoint). You can see how close you are tracking to
            Setpoint through feel experience (lots of it) or more simply through looking at a blackbox
            log.<\/p>\n","protected":false},"excerpt":{"rendered":"

            https:\/\/drive.google.com\/file\/d\/1WxgSUsG6UnvXjyxJSsAdw9iqoO21Ddmq\/view Your quad is controlled by what is known as a PID loop. As we are doing flips and rolls we are changingthe \u201cCommand\u201d (what we know as the Setpoint in the quad world [a.k.a. the sticks]), causing the PID loopto react. The goal of tuning is to tweak the PID loop so that it […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-1730","post","type-post","status-publish","format-standard","hentry","category-non-classe","entry"],"_links":{"self":[{"href":"https:\/\/domotics.fr\/index.php\/wp-json\/wp\/v2\/posts\/1730","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/domotics.fr\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/domotics.fr\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/domotics.fr\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/domotics.fr\/index.php\/wp-json\/wp\/v2\/comments?post=1730"}],"version-history":[{"count":1,"href":"https:\/\/domotics.fr\/index.php\/wp-json\/wp\/v2\/posts\/1730\/revisions"}],"predecessor-version":[{"id":2507,"href":"https:\/\/domotics.fr\/index.php\/wp-json\/wp\/v2\/posts\/1730\/revisions\/2507"}],"wp:attachment":[{"href":"https:\/\/domotics.fr\/index.php\/wp-json\/wp\/v2\/media?parent=1730"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/domotics.fr\/index.php\/wp-json\/wp\/v2\/categories?post=1730"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/domotics.fr\/index.php\/wp-json\/wp\/v2\/tags?post=1730"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}