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Tech-dat/PID-dat/PID-dat.md
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+
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+# PID-dat
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+
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+
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+## mobula8
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+
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+default profile
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+
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+| value | Proportional | Integral | D Max | Derivative | Feedforward |
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+| ---------- | ------------ | -------- | ----- | ---------- | ----------- |
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+| Basic/Acro | | | | | |
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+| ROLL | 53 | 95 | 46 | 43 | 143 |
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+| PITCH | 56 | 100 | 52 | 48 | 149 |
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+| YAW | 53 | 95 | 00 | 0 | 143 |
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+
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+
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+tuned profile
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+
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+| value | Proportional | Integral | D Max | Derivative | Feedforward |
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+| ---------- | ------------ | -------- | ----- | ---------- | ----------- |
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+| Basic/Acro | | | | | |
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+| ROLL | 48 | 100 | 41 | 43 | 143 |
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+| PITCH | 41 | 105 | 48 | 48 | 149 |
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+| YAW | 53 | 95 | 00 | 0 | 143 |
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+
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+
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+
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+![](2025-09-03-14-41-34.png)
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+
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+![](2025-09-03-14-45-14.png)
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+
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+![](2025-09-03-14-45-29.png)
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+
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+
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+
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+CAUTioN: Current sllder positlons may cause flyaways, motor damage or unsafe craft behaviour. Please proceed with cautlon.
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+
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+Note: Slider access and range is restricted because you are not in expert mode. Basic mode should be suitable for most builds and beginners.
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+
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+Note: Slider(s) are disabled because current values are outside the Basic Mode adjustment range. Switch to Expert Mode to make changes
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app-dat/RC-dat/RC-Controller-dat/RC-controller-dat.md
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8. In `Setup` 3D model: tilt the drone → model should move the same way.
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- If not → fix in Configuration → `Board Alignment` (Yaw 90/180/270 etc).
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+
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+- **Calibrate Accelerometer**: Betaflight → Setup → Calibrate on a perfectly flat surface.
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+- Make sure the quad is completely still during calibration.
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+- Check **Setup Tab 3D model** → it must move exactly like the real quad.
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+- If model twitches on its own → gyro noise or vibration problem.
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+
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### 4. Fixing “Steady Right Drift”
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12. If subtrim is correct but it still drifts → go to `PID Tuning`.
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14. If oscillations appear → reduce Roll P or Roll D by small steps (-1).
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15. Check Motor Idle value: `Configuration → DShot Idle` around **5%** (or min_command ≈1050).
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-![](2025-09-03-12-23-28.png)
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+![](2025-09-03-12-23-28.png)
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+
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+- Reset to Betaflight **default PIDs** for Mobula8 (start clean).
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+- Reduce **Roll/Pitch P by 10%** if oscillations occur.
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+- Increase **I-term by +5** if drift is slow and continuous.
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+
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+
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+### 4. Angle Mode Settings
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+- If drift only happens in **Angle Mode**:
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+ - Use small **Accelerometer Roll/Pitch Trim** adjustments.
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+ - Example: Drift forward → Pitch Trim negative.
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+
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+### If drift happens in **Acro Mode too**
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+
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+→ it’s not accelerometer, it’s mechanical or PID.
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+
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+
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+
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+## 🛠️ PID Tuning for Slow & Smooth Flight (Mobula8)
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+
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+- [[PID-dat]]
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+
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+### 1. Start from Defaults
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+- In Betaflight Configurator → **PID Tuning Tab** → click *Reset to Defaults*.
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+- This gives you a stable baseline.
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+
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+### 2. Lower P and D Gains (Gentler Response)
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+- Roll / Pitch **P**: reduce by ~20%
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+- Roll / Pitch **D**: reduce by ~20%
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+- Yaw can stay default.
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+👉 Lower P/D = less aggressive corrections → smoother flying.
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+
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+### 3. Increase I-Term Slightly (Stable Hover)
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+- Roll / Pitch **I**: increase by +10–15%
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+👉 Helps hold level in hover, prevents drift.
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+
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+### 4. Add a Bit of Damping (TPA / D-Term Filter)
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+- Leave filters at default first.
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+- If motors get hot, lower D-Term a bit more.
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+
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+
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+
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+### 5. Rates (Most Important for Smooth Flying)
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+Go to **Rates Tab**:
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+- **RC Rate**: 0.80 → change to **0.50**
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+- **Super Rate**: 0.70 → change to **0.60**
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+- **Expo**: set to **0.25–0.30**
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+👉 Slows down stick sensitivity, smoother camera movement.
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+
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+### 6. Throttle Curve (for Gentle Hover)
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+- Betaflight: use **Throttle Expo** in PID Tuning → Throttle tab.
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+ - Throttle Mid: set to ~0.50
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+ - Throttle Expo: set to 0.20–0.30
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+👉 Gives finer control near hover point.
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+
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+### 7. Test Hover Indoors
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+- Arm in **Angle Mode**.
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+- Slowly raise throttle.
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+- Quad should lift smoothly without sudden jerks.
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+- Adjust Expo if still too sensitive.
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+
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+---
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+### ✅ Summary for Smooth / Cinewhoop-style Flying
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+- Lower **P/D** = softer movements.
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+- Raise **I** = stable hover.
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+- Reduce **Rates** + add **Expo** = slower stick response.
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+- Throttle Expo = smoother lift / descend.
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app-dat/RC-dat/RC-supplier-dat/drone-maker-dat/happymodel-dat/mobula8-dat/mobula8-dat.md
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- [[FPV-dat]]
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-- [[battery-pack-dat]] - [[flight-controller-dat]]
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+- [[battery-pack-dat]] - [[flight-controller-dat]] - [[PID-dat]]
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