AutoPitLot PID settings: Quadro Oct 28 2013 ----------------------------------- IdlePWM = 1253 us Roll PID mode = GPS speed MinPWM = 1300 us Pith PID mode = GPS speed HoverPWM = 1490 us Yaw PID mode = Stable MaxPWM = 1900 us Alti PID mode = Stable ---------------------------------------------------------------- Roll rate PID Roll angle PID kp = 0.3900 kp = 7.8000 Ti = 0.0000 s Ti = 8.0000 s Td = 0.0048 s Td = 0.0000 s Df = 0.0229 s Df = 0.0057 s Il = 0.0 % Il = 15.0 % SP = 100.0 °/s SP = 45.000 ° ---------------------------------------------------------------- Pith rate PID Pith angle PID kp = 0.3900 kp = 7.8000 Ti = 0.0000 s Ti = 8.0000 s Td = 0.0048 s Td = 0.0000 s Df = 0.0229 s Df = 0.0229 s Il = 0.0 % Il = 15.0 % SP = 100.0 °/s SP = 45.000 ° ---------------------------------------------------------------- Yaw rate PID Yaw angle PID kp = 3.0000 kp = 2.2000 Ti = 0.0000 s Ti = 5.0000 s Td = 0.0000 s Td = 0.0000 s Df = 0.0571 s Df = 0.0571 s Il = 20.0 % Il = 25.0 % SP = 60.0 °/s SP = 50.001 °/s ---------------------------------------------------------------- Alti rate PID Alti PID kp = 12.0000 kp = 0.5400 Ti = 0.0000 s Ti = 20.0000 s Td = 0.0300 s Td = 0.0200 s Df = 0.0229 s Df = 0.0571 s Il = 0.0 % Il = 20.0 % SP = 2.0 m/s SP = 30.000 m ---------------------------------------------------------------- GPS speed X PID GPS position X PID kp = 5.3460 kp = 0.1801 Ti = 10.0000 s Ti = 1.0000 s Td = 0.0000 s Td = 1.0000 s Df = 0.0057 s Df = 0.0057 s Il = 20.0 % Il = 1.0 % SP = 6.0 m/s SP = 8.000 m ---------------------------------------------------------------- GPS speed Y PID GPS position Y PID kp = 5.3460 kp = 0.1801 Ti = 10.0000 s Ti = 0.0000 s Td = 0.1200 s Td = 0.0000 s Df = 0.0571 s Df = 0.0057 s Il = 20.0 % Il = 0.0 % SP = 6.0 m/s SP = 8.000 m ----------------------------------------------------------------