→ Damping: D Gains → 1.0–1.4
- Keep moderate to reduce fast oscillations
- Avoid too high → jitter on small indoor props
→ Tracking: P & I Gains → 1.0
- Stable for indoor hover
- Low enough to prevent twitchy movement
→ Stick Response: FF (Feedforward) Gains → 0.8–1.0
- Smooth, predictable response to stick input
- Don’t overdo → prevents overcorrecting during small indoor maneuvers
→ Dynamic Damping: D Max → 0
- Disable aggressive D scaling for indoor flight
- Keeps quad smooth in low-throttle hover
→ Drift / Wobble: /Gains → 0.8–1.0
- Helps slow drift correction
- Avoid too high → quad oscillates slowly
→ Pitch Damping: Pitch:Roll D → 1.0
- Keep pitch & roll D similar → balanced indoor control
→ Pitch Tracking: Pitch:Roll P, I & FF → 1.0
- Keeps stable hover during small corrections
→ Master Multiplier → 1.5–1.6
- Adjust global scale of all PID terms
- Indoor: keep lower to avoid twitchy behavior
✅ Notes:
- Test hover after each adjustment
- Make small increments (0.05–0.1)
- Goal: smooth, steady indoor hover with minimal stick corrections