StabilizationWidget 0 0 683 685 Form 0 1 QFrame::NoFrame true 0 0 665 627 0 0 0 0 0 0 0 150 Rate Stabilization Coefficients (Inner Loop) Kp Qt::AlignCenter Ki Qt::AlignCenter ILimit Qt::AlignCenter Roll Slowly raise Kp until you start seeing clear oscillations when you fly. Then lower the value by 20% or so. 6 0.000100000000000 I factor for rate stabilization is usually very low or even zero. 6 0.000100000000000 6 0.000100000000000 If checked, the Roll and Pitch factors will be identical. When you change one, the other is updated. Link Pitch Slowly raise Kp until you start seeing clear oscillations when you fly. Then lower the value by 20% or so. 6 0.000100000000000 I factor for rate stabilization is usually very low or even zero. 6 0.000100000000000 6 0.000100000000000 Yaw Slowly raise Kp until you start seeing clear oscillations when you fly. Then lower the value by 20% or so. You can usually go for higher values for Yaw factors. 6 0.000100000000000 As a rule of thumb, you can set YawRate Ki at roughly the same value as YawRate Kp. 6 0.000100000000000 6 0.000100000000000 Qt::Vertical QSizePolicy::Fixed 20 13 0 0 0 150 Attitude Stabization Coefficients (Outer Loop) Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so. 6 0.100000000000000 Ki can usually be almost identical to Kp. 6 0.100000000000000 ILimit can be equal to three to four times Ki, but you can adjust depending on whether your airframe is well balanced, and your flying style. 6 0.100000000000000 Kp Qt::AlignCenter Ki Qt::AlignCenter ILimit Qt::AlignCenter ILimit can be equal to three to four times Ki, but you can adjust depending on whether your airframe is well balanced, and your flying style. 6 0.100000000000000 Ki can usually be almost identical to Kp. 6 0.100000000000000 Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so. 6 0.100000000000000 Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so. 6 0.100000000000000 Yaw Pitch Roll Ki can usually be almost identical to Kp. 6 0.100000000000000 ILimit can be equal to three to four times Ki, but you can adjust depending on whether your airframe is well balanced, and your flying style. 6 0.100000000000000 If checked, the Roll and Pitch factors will be identical. When you change one, the other is updated. Link Qt::Vertical QSizePolicy::Fixed 20 13 0 0 0 0 Stick range and limits QLayout::SetMinAndMaxSize Roll Qt::AlignCenter Pitch Qt::AlignCenter Yaw Qt::AlignCenter 180 180 180 150 0 50 false Full stick angle (deg) 150 0 50 false Full stick rate (deg/s) 500 500 500 150 0 50 false Maximum rate in attitude mode (deg/s) 500 500 500 Zero the integral when throttle is low Qt::Vertical 20 0 If you check this, the GCS will udpate the stabilization factors automatically every 300ms, which will help for fast tuning. Update in real time Qt::Horizontal 40 20 0 0 32 32 :/core/images/helpicon.svg:/core/images/helpicon.svg 32 32 true Apply Save