StabilizationWidget 0 0 639 465 Form 0 PI Factors Rate Stabilization (inner loop) Qt::Horizontal 40 20 Hint: read the toolips! First, work on rate stabilization. QFrame::StyledPanel QFrame::Raised Roll Slowly raise Kp until you start seeing clear oscillations when you fly. Then lower the value by 20% or so. 6 0.000100000000000 Pitch 6 0.000100000000000 Kp Qt::AlignCenter 6 0.000100000000000 6 0.000100000000000 Ki Qt::AlignCenter 6 0.000100000000000 6 0.000100000000000 ILimit Qt::AlignCenter Link Yaw 6 0.000100000000000 6 0.000100000000000 6 0.000100000000000 Attitude Stabilization (outer loop) QFrame::StyledPanel QFrame::Raised Link Roll Pitch Yaw Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% 6 0.100000000000000 6 0.100000000000000 6 0.100000000000000 6 0.100000000000000 6 0.100000000000000 6 0.100000000000000 6 0.100000000000000 6 0.100000000000000 6 0.100000000000000 Kp Qt::AlignCenter Ki Qt::AlignCenter ILimit Qt::AlignCenter Qt::Vertical 20 40 Update in real time Limits Angle limits In this area, you can setup the limits for roll, pitch and yaw in attitude mode, i.e. what max attitude the airframe will reach if the sticks are pushed to the max. QFrame::StyledPanel QFrame::Raised QFormLayout::AllNonFixedFieldsGrow RollMax 180 PitchMax 180 YawMax 180 Qt::Vertical 20 40 Qt::Horizontal 40 20 Qt::Horizontal 40 20 false Not implemented yet. Reset to defaults Get Current Save to RAM Save to SD