PID-dat
works
- suspension == spring + damper
mobula8 for example
default profile
| value | Proportional | Integral | D Max | Derivative | Feedforward |
|---|---|---|---|---|---|
| Basic/Acro | |||||
| ROLL | 53 | 95 | 46 | 43 | 143 |
| PITCH | 56 | 100 | 52 | 48 | 149 |
| YAW | 53 | 95 | 00 | 0 | 143 |
tuned profile
| value | Proportional | Integral | D Max | Derivative | Feedforward |
|---|---|---|---|---|---|
| Basic/Acro | |||||
| ROLL | 48 | 100 | 41 | 43 | 143 |
| PITCH | 41 | 105 | 48 | 48 | 149 |
| YAW | 53 | 95 | 00 | 0 | 143 |
slider
| set | value | |
|---|---|---|
| Damping: D Gains | 1.4 | |
| Tracking: P & I Gains | 1 | |
| Stick Response: FF Gains | 0 | |
| Dynamic Damping: D Max | 0 | starting from 0 |
| Drift - Wobble: /Gains | 0 | |
| Pitch Damping: Pitch:Roll D | ||
| Pitch Tracking: Pitch:Roll P, I & FF | ||
| Master Multiplier: | 1.6 | Indoor: keep lower to avoid twitchy behavior |
use PIDtoolbox to find the best value
Master Multiplier
hear motor sound and feel the response
Start to gradually increase your Master Slider from ~0.5
- Pay attention to motor temperature, the sound of the motors, and propwash handling
Throttle and Motor Settings
| set | value | expalination |
|---|---|---|
| Throttle Boost | 5 | Increases throttle response when you make quick stick movements. |
| Motor Output Limit | 100 | Limits the maximum power sent to the motors (as a percentage). |
| Dynamic Idle | 35 | Sets a minimum motor RPM (as a percentage of throttle) when the throttle is at zero. |
| Vbat Sag Compensation | 100% | Compensates for voltage drop (“sag”) as the battery drains. |
| Thrust Linearization | 40% | Adjusts throttle curve to make thrust output more linear (proportional) to stick input. |
indoor
set throttle_limit_percent = 75
set throttle_boost = 7 # set throttle_boost = 0 set dyn_idle_min_rpm = 30 set dshot_idle_value = 600 set motor_output_limit = 90 save
dynamic idle
- 2" == 30
Angle/Horizon
| set | Strength | Transition |
|---|---|---|
| Angle | 50 | |
| Horizon | 75 | 75 |
| Angle Limit | 60 |
optimized for indoor fly
| set | Strength | Transition |
|---|---|---|
| Angle | 32 | |
| Horizon | 50 | 75 |
| Angle Limit | 45 |
- angle mode == can not full roll or flip
- Angle == less respone
- Angle Limit == less speed and angle, but inability to fly in wind
slider screenshort
CAUTioN: Current sllder positlons may cause flyaways, motor damage or unsafe craft behaviour. Please proceed with cautlon.
Note: Slider access and range is restricted because you are not in expert mode. Basic mode should be suitable for most builds and beginners.
Note: Slider(s) are disabled because current values are outside the Basic Mode adjustment range. Switch to Expert Mode to make changes
PID controller settings
- Feedforward transition
- Acro Trainer Angle Limit
- Throttle Boost
- Dynamic Idle Value [* 100 RPM]
- Absolute Control
- I Term Rotation
- Vbat PID Compensation
- Integrated Yaw
- I Term Relax
- RP - Axes
- Setpoint - Type
- 5 - Cutoff - indoor-fly-dat
A feature that reduces (relaxes) the effect of the I-term (integral) in the PID controller during fast stick movements, helping to avoid overshoot and improve flight feel.
- D Min
- Anti Gravity
- [x] Permanently enable Anti Gravity
- [x] Smooth [x] support - Mode
- 10 - Gain - indoor-fly-dat
A feature that temporarily boosts the I-term (integral) of the PID controller during rapid throttle changes to help maintain stable flight and prevent sudden altitude drops or surges.
PID Controller Settings
feed-foward in PID Controller Settings
set f_pitch = 160 set f_roll = 155 set f_yaw = 150 set feedforward_boost = 20 save
If you prefer a softer, more stable indoor tune
set f_pitch = 135 set f_roll = 130 set f_yaw = 130 set feedforward_boost = 10 save