Betaflight 4.5 PID Tuning

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Get my ENTIRE Betaflight 4.5 Tuning Guide covering Filters, PIDs, and Rates as a PDF here: www.patreon.com/collection/43...
Timestamps:
0:00 Intro
1:00 The PID-F Controller
2:25 P Term
3:00 D Term
3:42 P:D Balance
4:25 I Term
5:12 P:I Balance and Tuning Flow
6:00 Feedforward
6:32 Tuning Flights
7:44 Unleash your PID controller
8:12 tuning Analogy
8:45 Master Multiplier
9:32 Tuning Powerful Motors
10:40 Disable Dynamic D Term
11:07 Gradually Increase Master Slider
13:06 Dynamic Idle
13:59 Throttle PID Attenuation
15:20 Finding the right P:D Balance
16:05 Using PIDToolbox for Step Response
20:55 Tuning I term
23:08 I term Relax
24:19 I term Windup
25:00 Antigravity gain
27:05 I term rotation and absolute control
28:19 Setting up Feedforward
29:28 Adjusting Feedforward
32:36 Feedforward Boost
33:50 Feedforward Max Rate Limit
35:13 Dynamic Damping
46:30 Dynamic Damping Blackbox Settings
36:52 Dynamic Damping Gain
37:19 Tuning Dynamic Damping
39:36 Throttle Boost
40:04 Motor Output Limit
40:31 Vbat Sag Compensation
41:13 Thrust Linearisation
41:44 Outro

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Опубликовано:

14 май 2024

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Комментарии : 69

@ityadiinc 22 дня назад

I had to watch this and the filter tuning video at least 8 times each but now my quad if responsive, smooth and giving me better flight time!

@skky.fpv. 12 дней назад

Amazing tuning videos - thank you so much Chris! You gained a new patriot

@BenjaminMeasures Месяц назад

Epic tuning deep dive. Keep up the good work!

@taterfpv Месяц назад

Nice to see the evolution of your PID tuning technique and the expanded explanations of the nitty gritty. Thank Chris!

@Ozzy3333333 Месяц назад

Joe's I term rotation works wonders on my quad, I love it, thanks Joe!

@bulufish8208 Месяц назад

Thanks for your time and effort to make this hobby enjoyable 😉.

@demvlad2 27 дней назад

The P is derivative for I, as D is derivative for P. I've never thought about it before! Thank's!

@MrBornenjap Месяц назад

Finally expertise explained how to!!! Thanks Chris 🎉🎉🎉

@Noacopter Месяц назад

wooow !!! this is a masterclass !! Thanks Chris !!!

@LukeMaximoBell1 Месяц назад

Awesome video Chris!

@shadofpv 7 дней назад

Nice video mate :) i’ve been telling people the pidsum limit cli commands for years now 😂 sadness as a result of master multiplier made me giggle a lot! 😂

@kvstepanoff 4 дня назад

Great. You gave me the way to tune my 10". Many thanks.

@kuldar. Месяц назад

I as a beginner fly with total wrong settings, your videos are great way to learn, thank you! It would be fun to see what you are able to do with my drone.

@ChainsawFPV Месяц назад

4.5K views in 2 days tells me FPV is alive and well!!

@mab4195 Месяц назад

good job as usual! :)

@DiegoFerreiradaSilva Месяц назад

great video, thanks!

@butcher Месяц назад

Proper hardware were mentioned, but I want to highlight if anyone notices high throttle oscillations, before changing TPA , make 100% sure that there isn't any wire close to the FC, I run into this several times and it was always a hardware / wiring problem. 😊

@divingfalconfpv4602 Месяц назад

I had that wire problem once when I first got into fpv.. Bardwell was one that told make sure no wires were near gyro. Moved wires and low Hz noise was gone

@daan-the-maan Месяц назад

Appreciate the information. Question regarding tuning flights: Can all tuning described in the video be done by wobbles left/right and front/back in angle mode? I guess for settings like anti gravity different kinds of tuning flights are needed?

@DerKatzeFPV Месяц назад

Hi Chris, thank you soo much for the work that you do. I happen to have a Moblite 7 1S HDZero Quad. And as far as i understood, i dont have logs. Is there a way to tune without logs and for a TinyWhoop? I would love to see a video about that. Further more, my Props spec says site 1.6" and pitch 1", is that considered low, mid or high? Couldn't find any information about what is what. Love your work!

@mattdena8070 Месяц назад

5” quads don’t be surprised when you realize after going through all steps you end up back at default with a few minor tweaks.

@divingfalconfpv4602 Месяц назад

Not on my 5" quad

@KODEEFPV 24 дня назад

so true

@DDelfer Месяц назад

Hello! Thank for this perfect video!!! Waiting for the next!!! Should I change back pidsum_limit after tune?

@ewerninghaus Месяц назад

No, keep the pidsum_limit to what it was during tuning.

@nebo_sentyabria 4 дня назад

Hello Chris and community! Thank you for your great videos! Using this one I was able to make my quad experience much better than it was on stock settings! I have a question regarding ExpressLRS presets. Where caun I find the one, that works for my ELRS? I thought it was the Pocket Rate setting in my TX. However, the values on TX are 100Hz, 200Hz, and there are no presets for those values. I see the values on presets are 150Hz, 250Hz, and I have no such values available on my TX. What have I missed here?

@Mojohoojo187 Месяц назад

Hey thanks for making this video. I was wondering if I need to do all the steps or can I do them in stages? What I mean is PID tuning, radio tuning and FF, dampening and etc…

@elmars302 Месяц назад

Are there or will there be 4.5 presets for AOS 5 (v5 perhaps)?

@PIXLPUSHRFPV 12 дней назад

You should stress test the 2004 t motors. They have improper manufacturing on the herrings and will seize up under heat build up. I got screwed on these motors

@plop386 Месяц назад

well. by starting by the P/i balance. when i crank up the i gain alone even at 0.05. a perfect response overshoot like stock PID 1.25 for 26Ms from 1.05 19 Ms

@Zentriefugal 17 дней назад

After always avoiding this, I sat down today and tried to tune my 1S quads. It actually worked quite well, I was able to reduce the filters and every flight in our production hall felt a bit cleaner. As for the PID tuning, I actually left everything at the default setting of 1 because after the filters were optimized, the copters were actually flying quite well. But then I went outside and it turned out that tuning is not that easy after all. From my 3-5 inch copters I know that they are always carried away a little in the wind and I have to counteract this, but with the little ones it was a completely different story. They were super nervous and started to shake a lot. Is it possible to optimize this with PID tuning, or do I have to accept it because they are only 1S copters?

@alperenozgur Месяц назад

finally

@mica2237 Месяц назад

Hi, I just rebuilt my quad entirely but with my new 2755kv motors it only sounds good with the master slider at 0.15, at normal 1 the motors get warm at idle and sound rough (completely new motors). I havemt flown it yet, should I be concerned? Any ideas?

@perrinms 25 дней назад

I'm working through this for my 3" quad which doesn't have a black box. Is there anything I should skip or avoid or is there a workaround?

@batdronefpv Месяц назад

Thx for your great work !!!

@rgglenn150 Месяц назад

no using of blackbox when tuning master multiplier?

@LinhPham-hq4oi 9 дней назад

Hi Chris, Do I change PID_Sun limit & Limit_Yaw back to default after finished tuning?

@BullitFPV Месяц назад

What Kind of tuningflight do you recommend for which step? LOS like basement tuning flights for all steps?

@KyriacosDemetriou 9 дней назад

I have the same question.

@Halfrightfox Месяц назад

Whats a good stqrting place to start on finding P:D balance on micro 40mm/1.6"? Bf defaults are horrendous

@bearbeefpv Месяц назад

UAV Whoop Presets

@jejefpv Месяц назад

Hi Chris, something is bothering me, but you'll probably have the answer. Usually, Dterm is supposed to be fed with error (kD dε(t)/dt), but it seems in BF, only the gyro mesure is used. Aren't we more interested by the rate at which the error changes than the rate of change of the rotation of the quad itself ? We need to know how fast the rotation speed changes so the quad reaches the setpoint, not how fast the rotation rate globally evolves. I might be missing something, I hope you could enlight me, thanks ! :)

@feelfree.1 Месяц назад

I was thinking the same

@PeterKrull1 Месяц назад

I was also wondering about this. It seems like (looking at the code in pid.c) that the D and F terms in betaflight are very similar to a classic derivative controller. Normally we calculate, as you stated, derror/dt, where error = stick - gyro. Since the derivative is a linear operator, derror/dt is equivalent to dstick/dt - dgyro/dt. Turns out, the ''F' controller is just one half of the classical derivative (dstick/dt), but with some extra tweaking added on top. The minus sign in front of the gyro derivative is just hidden away in the code. So it is still a fairly classical PID controller under the hood, except the D controller allows for essentially separate gains for stick and gyro derivatives.

@jejefpv Месяц назад

@@PeterKrull1 Do you mean FF term is complementary to the Dterm, bringing the "missing" setpoint part ? Wouldn't we have a problem if FF is disabled then ? I thought the Dterm needed to detect when the system was going to fast towards the setpoint (= when the error is getting smaller to fast). I had the same reflex as you, by checking pid.c and I saw the setpoint nor the error were not directly involved, but I feel I am missing something somewhere 😅 And I suck at maths, so I might not have understood properly your explanation ;)

@PeterKrull1 Месяц назад

@@jejefpv You could disable the FF term completely, it would not make the system unstable, just feel sloppy. The derivative of the gyro will always just work to brake any change to the rate of rotation, no matter what the setpoint is. The FF term (or the dstick/dt part of a standard PID controller) will then act as the initial kick to get the rotation started, and then the dgyro/dt controller will to to stop that rotation. The point is that these two components of the classical derivative controller actually fight each other somewhat. But due to the delay between your setpoint changing (the initial kick) and the gyro sensing the rotation and braking, we get a really nice acceleration and deceleration.

@jejefpv Месяц назад

@@PeterKrull1 Thanks for the detailed reply mate 👍 I was disturbed by the fact it slows down the rate of rotation without taking into account the error. Your point about the delay and the FF makes it more understandable

@DDelfer Месяц назад

Chris! I can not donate through Patreon. Is it possible to donete you directly using crypto USDT? I really want to get your PDF!!!

@mateuszpachulski6211 8 дней назад

how is D gains staying on 1 and is untouched can anyone explain me it ?

@kenmemh4838 Месяц назад

I think that in the Dynamic iddle values are reversed. low pitch should have higher values than steep pitch props to produce same amount of lift.

@Binkoro 22 дня назад

Doesn’t angle mode have its own feed forward and therefore you have to change to acro mode?

@ChrisRosser 22 дня назад

For feedforward tuning you do need to be in acro mode.

@MoaCube Месяц назад

Great video, but these small props dynamic idle values are way to high. 133 for a tinywhoop may be very close to hover point and even 66 already feels floaty.

@alperenozgur Месяц назад

its interesting you dont show how to set master multiplier position by reading logs but just with ear? did i get it wrong? since we noobs cant tell it from ear..

@ewerninghaus Месяц назад

You will hear the difference. The wobbling can be heard and sometimes seen in the FPV. The sound is not smooth, it vibrates continuously. Like a vibratto movement in a violin or guitar.

@alperenozgur Месяц назад

@@ewerninghaus ok 🤔 thx

@marmachul 7 дней назад

@@ewerninghaus I still cannot do it by ear :))

@s.fendless9107 Месяц назад

Where s lead-lag compensator? The PR is already merged.

@DriftaholiC Месяц назад

Why raise master before p/d balance?

@taterfpv Месяц назад

I had the same question. Maybe the methods have evolved since 4.3?

@mattdena8070 Месяц назад

Think of it like volume on radio. When tuning the equalizer to get best sound, and we listen to radio at a loud volume, it’s best setting it up at the volume we’re gonna be using. Can you do it with it on low volume, yea, but you may have tweak it again after turning the volume back up. since we want max pids, go on and increase the mm first, then it should save you from having to go back and tweak the pd balance.

@Sugar_K Месяц назад

@@taterfpv AHH no there are no changes to pid tuning or filters since 4.4.. not sure that these things need such long videos vs 4.4 given there has been no change

@SuperHaptics Месяц назад

Not Peed.... P.I.D.

@1337flite Месяц назад

Chris - try a T-Shirt sometime.

@torpedoLaw Месяц назад

Blah blah, blah blah blah blah blah blah blah. Just put a default setting in beta flight. Done. You won’t have any problems with a good 5 inch squad set up nowadays.

@divingfalconfpv4602 Месяц назад

So I have fly only 5"?

@trumblez Месяц назад

1. Only good for 5 inch builds 2. You can make a 5 inch fly a lot better tho (this is what this video is for) 3. Why are you even watching then

@maryjane136 Месяц назад

First of all it's called quad, not squad. But you are damn right, because every 5" quad has the same motors, weight, weight distribution, PWM frequency. And the same props of course, because it's a freakin' 5 inch. Blah, blah, blah.