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 Slowly raise Kp until you start seeing clear oscillations when you fly. Then lower the value by 20% or so. 6 0.000100000000000 Kp Qt::AlignCenter I factor for rate stabilization is usually very low or even zero. 6 0.000100000000000 I factor for rate stabilization is usually very low or even zero. 6 0.000100000000000 Ki Qt::AlignCenter 6 0.000100000000000 6 0.000100000000000 ILimit Qt::AlignCenter If checked, the Roll and Pitch factors will be identical. When you change one, the other is updated. Link 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 I factor for rate stabilization is usually very low or even zero. 6 0.000100000000000 6 0.000100000000000 Attitude Stabilization (outer loop) QFrame::StyledPanel QFrame::Raised If checked, the Roll and Pitch factors will be identical. When you change one, the other is updated. 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% 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 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 Ki can usually be almost identical to Kp. 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 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 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 Qt::Vertical 20 40 If you check this, the GCS will udpate the stabilization factors automatically every 300ms, which will help for fast tuning. 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