TWiT Throwback (Audio)

Know How... 138: Towers Time Forgot, PID Settings, and Feedback

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Learn about the Microwave Radio Relay Skyawy, RasOSMC is awesome, PID settings for your quadcopter, eBook reader that's not a Kindle, getting NAT'ed by your ISP, and a map of no drone fly drones.

Let's talk PID

P = "Proportional Gain Coefficient"

  • P addresses the algorithm responsible for balancing the input from the pilot with the data from the sensors.
    • It "wants" to level the sensors
    • A higher P setting makes the craft more reactive to angular change
    • A lower P setting will make the craft most "sluggish" and less apt to "snap" back to level

      • The takeaway is that the higher your P setting, the more your FC will fight to keep the craft level. If your P is too high, you'll typically see oscillations in the craft as the controller constantly overcorrects its angle to level.

      I = "Integral Gain Coefficient"

      • I addresses the algorithm responsible for balancing the corrections from P... over time.
        • It wants to "spread out" the corrections that the P value is pushing through the FC
        • A higher I setting will stretch out the corrections from P over a longer period of time
        • A lower I setting will enact the P corrections quickly

          • The takeaway is that the higher the I settings, the more smoothly your craft will move

          • If your craft wobbles during descent, your I setting is too low.
          • If your craft wobbles during punch-out, your I setting is too high.

            • D = "Derivative Gain Coefficient"

            • D is the algorithm that softens the corrections from P
              • It wants to "smooth out" the corrections that the P value is pushing through the FC
              • At a higher setting, it will reduce the input the P value has on the FC as it gets closer to level

                • The takeaway is that we don't use D.

                If you want acro:

                • High P
                • Low I
                • Increased D

                  • If you want smooth and stable:

                  • Low P
                  • High I
                  • Less D

                    • The process for tuning is simple, but can take some time.

                    1. Set I & D to "0" (If you're using a KK, you don't have D settings)
                    2. Set P to 20 and fly the craft.
                    3. If it flies smoothly, increase P by 10 and fly the craft
                    4. Repeat step 3 until you start noticing high-frequency oscilations
                    5. Back off your P settings by 10. You now have your ideal P setting
                    6. Set I to 20 and fly the craft
                    7. Practice descent
                    8. If it wobbles, increase I - then repeat descent
                    9. Repeat step 8

                      10. Hosts: Fr. Robert Ballecer, SJ and Bryan Burnett

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