PID tuning, I-term question

[carter]

hi,

would it "harm" my quad if I set the ROLL/PITCH/LEVEL I-terms to zero(0) ? I mostly fly my quad-X in stable mode. and in a few minutes after flying in that mode, it becomes "loosely coupled" esp when there has been many *adjustments* of the roll/pitch stick(usually when its a bit windy in the field). its sort of like a oscillator, the swaying starts small, then builds up until its uncontrollable that I just land it.sometimes crashes.

feels like im flying in STABLE mode w/c is slowly going to ACRO mode.that sort of thing...

If the roll/pitch I-terms are not zero, the quad IS crazy.. so HOW would I fix this problem?

[bill516]

If you look at the FAQ and read the link on PID tuning it tells you to start with I & D set to zero and adjust P until it oscillates, so going by that you should have no problem flying with I set to 0. Maybe you need to reduce P to improve stability so you can add in some I and D, PID tuning seems to be a matter of adjust fly, adjust fly, until you get it how you want it.

What version are you flying with? I have read of people having problems with V2 and stable mode but upgrading to the V2 dev their problems have gone away.

[carter]

hey bill

thanks for the reply

regarding adjustment of PIDs, noted! THANKS

im running on dev20120522.. after reading a few more forum posts, Ive come across lowering value for RCRATE down to 0.6 (was previously at 0.9) .. now it has mellowed down a bit .. will test soon on the open field cuz its mostly raining, but I could see it has improved a bit...