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OnlineHelp: Stabilization Panel
Carsten Giesen edited this page Mar 23, 2014
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###Stabilization Panel
http://wiki.openpilot.org/display/Doc/Stabilization+Panel
####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
- Roll: Full stick angle (deg)
- Roll: Full stick rate (deg/s)
- Roll: Max rate attitude (deg/s)
- Pitch: Full stick angle (deg)
- Pitch: Full stick rate (deg/s)
- Pitch: Max rate attitude (deg/s)
- Yaw: Full stick angle (deg)
- Yaw: Full stick rate (deg/s)
- RoYawll: Max rate attitude (deg/s)
####Expert