![]() ![]() For an outside influence (prop wash OR wind gust) the D-term dampens the influence. For stick moves, the D-term dampens the command. in betaflight, raise I-gain just until the copter holds attitude during normal flight, then add anti_gravity_gain to control throttle couplingĬontrols the strength of dampening to ANY motion on the craft.Raise I-gain until the copter holds attitude on all three axes in response to strong throttle moves (the rest will be done by anti_gravity_gain).If too low, quad is slipping, skating, like on ice.corrects for steady-state error and persist bias.corrects for accumulated, un-corrected error.Proportional to magnitude and duration of error.It allows to have lower I-gain when cruising, and only increase your I-gain when doing throttle punches. To avoid undesired “stiffness” with high I-gain use “Anti Gravity“. You can increase I-gain to “fix” these tiny details in the flight performance. Excessive I gain in extreme cases can create a low frequency oscillation. ![]() It’s similar to having a slower reaction and a decreased P gain. When I-gain gets too high, your quadcopter will be overly constrained by this, and start to feel stiff and unresponsive. If you notice some drifting without user command, then increase it Think of it as the stiffness setting in the stall motion of your quadcopter, and how well it holds its attitude. I term determines how hard the FC works to hold the drone’s attitude against external forces, such as wind and off-centered CG. Too high P-gain results in more (slow, sluggish) oscillation High P-gain means the copter accelerates harder to reach the target rotational rate The primary determinant of your copter's flight-feel and handling Smaller error means keep trying but don't push as hard It is proportional to the magnitude of error (setpoint and gyro).īigger error means push harder to get to the setpoint You can lower P to reduce the oscillations, but reduce it too much and your quadcopter will start to feel sloppy. If P is too high, the quadcopter becomes too sensitive and tends to over-correct, eventually it will cause overshoots, and you will have high frequency oscillations. Generally speaking, higher P gain means sharper control while low P gain means softer control. The snappy response provided with a high P gain can even make it feel like you have increased your rates. Think of it as a sensitivity and responsiveness setting. where the pilot wants the quad to go by moving the transmitter sticks). P gain determines how hard the flight controller works to correct error to achieve the desired flight path (i.e. Think of the P-term as the spring on a car. Higher value (gains) provide tighter tracking, but can cause overshoot if too high in proportion to the Derivative (D-term).
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