StabilizationWidget 0 0 639 465 Form 0 PI Factors Rate Stabilization (inner loop) First, work on rate stabilization. QFrame::StyledPanel QFrame::Raised Roll Slowly raise Kp until you start seeing clear oscillations when you fly. 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 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 Qt::Horizontal 40 20 Reset to defaults Get Current Save to RAM Save to SD