OnlineHelp: Stabilization Panel

###Stabilization Panel

Perhaps you start with this video: https://vimeo.com/25742413

####Basic See Advanced for explanations. But remember, the values are show factor 1000 of advanced settings ####Advanced

#####Rate Stabilization Coefficients (Inner Loop)

Pitch Roll

• Proportional:
  Slowly raise Kp until you start seeing clear oscillations when you fly. Then lower the value by 20% or so.
• Integral:
  As a rule of thumb, you can set the Ki at roughly the same value as the Kp.
• Derivative

Yaw

• Proportional:
  Slowly raise Kp until you start seeing clear oscillations when you fly. Then lower the value by 20% or so.
  You can usually go for higher values for Yaw factors.
• Integral
• Derivative

#####Attitude Stabilization Coefficients (Outer Loop) Pitch Roll

• Proportional
• Integral

Yaw

• Proportional
• Integral

#####Stick Range and Limits When you are tuning the stabilization coefficients in the previous section, you typically want to set them as high as possible without inducing oscillation. Then you control how aggressively your aircraft flies by setting Stick and Range Limits.

Full Stick Angle (deg): This setting controls how many degrees of movement a full-stick movement commands in Attitude mode only.
The default value is 40 degrees on the latest firmware. You can increase this value for more aggressive flying. This setting has no effect in the other stabilization modes (Rate, Weak Leveling, and AxisLock–see the table above).

Full Stick Rate (deg/s): This setting controls how many degrees per second a full-stick movement commands in all modes except Attitude.
The default value is 150 degrees per second, but a higher value may be required for flips. This setting has no effect in the Attitude mode.

Maximum rate in attitude mode (deg/s): This sets the maximum rotation rate on an axis. For example, if you move the stick from one extreme to the other, this setting limits how fast the movement on that axis occurs. This term should not normally require changing, but may be useful for limiting rapid movement of aerial photography ships,or for increasing stick sensitivity in attitude mode on aircraft which utilize low PID values. Despite the name, this setting has an effect in all modes.

####Expert