AutoPitLot PID settings: QuadAF ----------------------------------- IdlePWM = 1220 us Roll PID mode = GPS position MinPWM = 1300 us Pith PID mode = GPS position HoverPWM = 1400 us Yaw PID mode = Stable MaxPWM = 1900 us Alti PID mode = Stable ---------------------------------------------------------------- Roll rate PID Roll angle PID kp = 0.2336 kp = 6.3000 Ti = 0.0000 s Ti = 0.4000 s Td = 0.0080 s Td = 0.0000 s Df = 0.0286 s Df = 0.0286 s Il = 4.0 % Il = 20.0 % SP = 80.0 °/s SP = 45.000 ° ---------------------------------------------------------------- Pith rate PID Pith angle PID kp = 0.2336 kp = 6.3000 Ti = 0.0000 s Ti = 0.4000 s Td = 0.0080 s Td = 0.0000 s Df = 0.0286 s Df = 0.0286 s Il = 5.0 % Il = 20.0 % SP = 80.0 °/s SP = 45.000 ° ---------------------------------------------------------------- Yaw rate PID Yaw angle PID kp = 2.5000 kp = 5.0000 Ti = 0.0000 s Ti = 4.0000 s Td = 0.0000 s Td = 0.0000 s Df = 0.0057 s Df = 0.0057 s Il = 30.0 % Il = 30.0 % SP = 100.0 °/s SP = 70.000 °/s ---------------------------------------------------------------- Alti rate PID Alti PID kp = 1.0000 kp = 1.0000 Ti = 1.3576 s Ti = 0.0000 s Td = 0.0100 s Td = 0.0100 s Df = 0.0057 s Df = 0.5029 s Il = 5.0 % Il = 5.0 % SP = 4.0 m/s SP = -2.900 m ---------------------------------------------------------------- GPS speed X PID GPS position X PID kp = 4.0000 kp = 0.0100 Ti = 0.0000 s Ti = 0.0000 s Td = 0.0000 s Td = 0.0000 s Df = 0.0057 s Df = 0.0057 s Il = 0.0 % Il = 0.0 % SP = 3.0 m/s SP = 2.010 m ---------------------------------------------------------------- GPS speed Y PID GPS position Y PID kp = 4.0000 kp = 0.0100 Ti = 0.0000 s Ti = 0.0000 s Td = 0.0000 s Td = 0.0000 s Df = 0.5029 s Df = 0.0057 s Il = 0.0 % Il = 0.0 % SP = 3.0 m/s SP = 2.020 m ----------------------------------------------------------------