PID Tuning Masterclass - Part 4 - Optimizing I Gain 

I'd like to see this entire series re-done with Betaflight 4.0

OMG the way these videos ends its like NOOOOOOOOOOOO, I want more, you were just talking and boom it ends.

Alright....after watching and rewatching about ten times I FINALLY have my seven inch tuned amazing!!! I couldn’t have done it without your tutorials. Thanks for all you do!

This series helped me tons! One of my quads (pre-build one) acted up after a motor swap and this series helped me get that under control. I did indeed learn something today.

Brilliant vids. I've not been flying much from last summer and was only learning the pids so these new vids are the best refresher in pids. Thank you Joshua!!

Man, I appreciate the lessons Joshua. I'm doing my very first tune on my very first programmable flight controller and I couldn't have started without ya. Thanx brotha 😊

if you hate hearing, "battery critical" all the time, you can add a diode and 250uf capacitor to the voltage sense wire to slow down the voltage change. (though it makes it read 0.7v lower than it really is.) Or, if you have a taranis, there is a cool trick someone did with a delay parameter in the mixer to delay the battery alarm.

Loving these vids! I can't wait for some warmer temps again so I can go do a nice tuning session.

One of the best PID Tuning Guides! Thanks Joshua!

rewatching because INAV7 is giving me fits.

Nice work here Josh. PIDs are much less a mystery. Very helpful to me anyway.

maybe you can elaborate the betaflight anti-gravity parameters on that occasion josh ?great series !!

That is so cool you can adjust your pids in flight. Makes me want to switch from KISS sometimes lol. Great videos.

You are guessing. Yes, there is a relationship between all the gains.. Think on the quad as having inertia around all 3 axes. The motor supply force. Multiply the force by the dist from the axis of rotation to get torque. Then divide by the inertia to get angular acceleration. That is simply 2 poles at the origin in the s-plane. After adding the paid the will be 3 closed loop poles if you ignore the time it takes the props to spin up. Now place the closed loop poles and calculate the paid gains. But first the units need to be known.

I think the uneven throttle response is caused by ESC tolerances.

things were difficult without dynamic notch and feed forward.

watching this to try figure out my triblade problem,flew fine on 2 blades now im on triblades it drifts all over the place when im hovering lol

That's weird watching the quad "lock on" when you step on it, then "wander off" when you let off, when demonstrating "too low" I-gain. It's almost like you don't even have Air Mode on, and it's just free floating at zero. (I'm still learning to fly and don't often use Air mode)

I am sticking on this, now; cause I am trying to set it as crusty like prebacked can taste fresh, dealing with an Align MR25x FC, handling 1600Kv motors on 4s spinning 6" props!?! silly yaw jitters I encounter, for instance aka. Thank's digging so deap in the topic.

Down the rabbit hole

Thank you Joshua, very helpful video Love the end again :D

Great tutorial series but, after watching the first 4 parts of this series and then going back to your RaceFlightOne video. I think RaceFlightOne is the way to go from here.

i think it thend to nose up down 'cause the quad is not balanced from center of the propellers may be bad battery postion ....

Such a great video! Awesome explanations. Joshua, do you have any written text on PIDs & Rates you can share. Would really like to study this in a way I can perfectly manage all PID and rate concepts. Besides of course replicating what you show here to get a better feel of what I have learned. Thank you very much for all you do and share.

Super helpful, once again! Thanks!

I would have loved to see what high I gain do.

How are you adjusting the values in flight,with a switch...do you have a vid showing how to set it up to make the adj in flight?

I am still new to the hobby myself, but besides price of these things, I feel like tuning is a big obstacle that hinders newbies. Why aren't flight controllers able to tune themselves?!

Great one

Oh man.. you are just lucky to have a flying field out your door, all the time in the world to PID tune and then you go about adjusting PIDs while flying,, makes my blood boil =D :'(

Should I put on slightly damaged props or brand new ones when I tune my quad?

How are you adjusting I gain and flying at the same time? What witchcraft is this!?

sir me i know where to apply this sitting in radio or in betafight Im used 4.2

sir I will take this PID tuning sitting in my tango 2 ? how

How does this change for different setups? For instance my brushled setups are unflyable until I get up over 100s on everything. What about 5” vs 3” vs whoop? Ducted props? In vs out setups? How do these thing change and react differently

Thanks for this great playlist. I have the same problem qs you have on high throttle chamges. Is there any eay now to fix it ? At the end of video, it just cuts off dirty, but there is no more explanations or tests, and im trying to get rid of this effect of high throttle chamges

What would happen if you tried to turn sharp going fast like a tight u turn but with low I gain? Like going fast on a straight away, but then making a sharp U turn with low I gain?

It looks like pitch stick up is pitching the quad back and pitch stick down is pitching the quad forward. Are my eyes playing tricks on me, or do you fly with pitch reversed from most normal setups. Seems opposite from airplane and heli setup.

@Joshua Bardwell What was the result? Did you ever get rid of the nose drift after punchout? After an hour of tuning I got all my P and I terms up to 100 and it still wont go away. I have almost no oscillations though. (250 quad, spracingf3evo).

Hi Joshua, you say that with I term, the quad stay on its attitude after punch throttle. but does the CG influence ? my motors spins when the throttle is 0, and tends to horizontalizing the quad. So do I need to stop the motor when tuning PID ? thx

THANK YOU FOR THESE VIDS! #ProblemSolved

I follow your videos almost religiously. Informative, up-to-date, and easy to follow. Has helped me so much with building my 1st 2 drones and getting them tuned in (mostly). I do have a question for you tho, if you see this, and I was wondering if an imbalanced motor would cause mid-range oscillations but not on low or high end? I have been trying to tune it out for a while now, and while better, its still there. If I had a spare motor of the same type id try and replace it but I dont (stock issues). I have tried other things such as different props, re calibrating the FC, and others and its always very similar. I was just curious on your opinion? I know there are other variables, some ive tried, but dont want a massive page of text here listing em all. (I will be buying more motors ne ways so im not trying to skimp out, just looking for a pros opinion and possibly solutions?) THANK YOU!

I want to use the buzzer on a matek 5in1 and trigger it from a switch. The matek manual tells me the pwm signal it looks for but I'm not sure where the signal wire would come from on my lux v2. There are buzzer pads but that only puts out voltage not a signal. The lux only has 4 motor outputs so I'm not sure how I would do it. Any advice is appreciated.

How do you tune the PIDs on the go?

my quad move back how to fix it

HI Joshua, Will there be more? Your helping me a lot here.:) Great job!

Hi, in just hovering, when i throttle up or down my yaw drifts slowly to the right. Until i throttle some more it rotates the quad like more or less 90°. Is that a sign of low yaw I gain? No matter how many times i add yaw trim it doesn't go. And also my roll, it drifts left even no wind and just keep adding trim till its almost 50% trim. Are those i gain probs?

Josh, is it possible your COG was back a little bit on this quad and that's why punch outs raised the nose? If the COG is off it's going to cause this issue. Your back motors are working hard to help the back keep up with the front motors. I had this same problem recently.

Thanks again for the vids Joshua, will you be talking about TPA?

What is your tip for an x frame with underslung battery, when catching it from a dive with low throttle there is a real pendulum effect sometimes, just fly around it or raise I drastically? I don´t like the feel of high I so I prefer just avoiding it, any advice ? This series was awesome btw great work

Hi josh, When i give full throttle my quad begins to whooble. When i put a heavier batterie on my quad the problem is solved... what do you think?

how about ESC's ampere?

no offense im hoping but do you where a sarong wasnt sure?

Nice Video. Have you played around with the newish "anti-gravity" feature? I think it's supposed to help with that punchout dip.

Please make a video on setting up filters. Now there are 2 filters and I can't find info on how to set it up...

When I punch out then cut throttle, my quad acts as if it had no thrust keeping it level, it just starts tumbling to the ground, I raised my min throttle from 1070 to 1080, did nothing.

Are you flying in acro mode in these videos? I am currently trying to switch to acro, so I watch as many videos with stick overlays as possible to try to get a feel for what the sticks should be doing. In your videos, if you turn right, for instance, it doesn't appear that you have to take the stick back to the left side of center to stop turning? It is difficult to see when it is happening so quickly, though. I am just really struggling converting to acro mode.Especially on indoor tracks on the simulators. Any tips?

Joshua, I having a slight issue with a tune on a flip well more of a power loop I would yaw to the right a little. It fly's well other than that with a few oscillation here and there but not that bad. I have watched this series looking for a little help. Any suggestions on where to start first. Thanks You really helped me get and many others that have struggled from time to time.

What are some symptoms of too high I gain? Can micro wobbles on yaw at low throttle be one?

This is a fascinating series Joshua but it seems to my uninformed mind that the entire process of finding the perfect tune could be automated through smart software. I know there used to be an autotune, could it not be refined?

Hello, This is a really helpfull video thanks.its getting me through tuning my matek/chameleon build. struggling at bit to lose jello. I have a question, when starting a tune should the filters in Betaflight be set on or off? thank you

Joshua Bardwell, when doing your PID lessons, which i like a lot, is AIRMODE on permanently? Thanks for your answer

This is like trying to understand color in 3D

Hey josh I'm having trouble with my fpv system I keep frying Cameras I am getting 16v to my camera leads and the camera says it should be good from 5 to 17 volts am I just pushing it to close should I try a camera with a max of 22v like the run cams blew up 2 foxteer cameras please help thanks

hello joshua one question: if I do roll ant the quad overkorekting I have to decrease the I gain?? or encrease?? Sorry for bad English.. thank you

what would cause a almost yaw to right when doing punch and most time hitting 75% throttle? its a very quick jerk to right and back ?

Question: Are there any form of autolevel here, or do the control system only control the rotational velocity?

Joshua, on a windy my quad wobbles when I was just flying in straight path. I had to lower the I gain and wobble stopped. Is this correct?

Dear Joshua, do you think that a custom mmix that takes into consideration the exact geometry of a frame will help/improve in any way the flight characteristics of a quad? Thank you very much for such good content!

I've having nose dip after punch out problem and no amount of I gain can fix it. Have you discovered any other cause of this problem ? It seems like it's caused by motors spinning up and braking at different rates or something. I could see an aerodynamic effect causing it too but what could it be ?

Hi Joshua maybe you can help me. I only have oszilations on my quad when I do high throttle punches. I tried that tpa but it does not seem to have an effect. Have that on 2 same builds. Maybe you have a tip for me.

How do you adjust the PIDS whilst flying?

what would be common issue for quad to yaw left right after punch out?

My apologies if it's been covered previously, working through your back catalog now. But what I am experiencing is when I yaw the copter seems to roll. Example: I take it up to level flight in a hover and give right yaw input. The copter yaws right will simultaneously rolling right (no roll input given), as much as 30degrees or so on a 90+ degree yaw. What is your opinion on what that could be?

shalom

How do you adjust pids in flight?

Is there a part 5? It seems you ended this one and never quite ironed out the wobble on punch. You ended the other two around like 70p 50d or something but ended this with them lower. I assumed once you found the sweet spot with P and D, then you just raise your I until it holds solid attitude?

Out of curiosity, how many times have the birdhouse or pole been struck?

Joshua, how are you editing the PIDs while in-flight without the quad reacting the the stick movement?

how many packs does it take on average to tune a quad

Your I is definetly too big, that bouncing after you turn drives me crazy.

This tuning series ended in nowhere ? Looks like there is problem to tune betaflight properly right ?