humble wren
I’m working on 4.4 gps rescue and it oscillates forward and back quickly when returning to home so I know I need to lower my p and d gain for gps_rescue_velocity.I’m curious as to what increments should I lower them and should I maintain a ratio between them?
humble wren
This is my current PIDs
agile tree
You can try a D of 12, I think that’s the new default. I’ve noticed that it will work well enough with even lower values. There’s also the pitch cutoff setting (in development builds) which will smooth things out, but it will add a bit of latency.
humble wren
Thank you I’ll try that out
I feel it’s also worth noting that I’m using a 7.5 inch quad if that changes anything
hoary mango
Just mess around 🙂 as Sek says D is often the big player if the oscillation is fairly fast, but sometimes P is involved.
4.5 zulu is a lot smoother
humble wren
Thank you will do
humble wren
Just mess around 🙂 as Sek says D is often the big player if the oscillation is ...
How do I change Zulu
prisma wagon
use a nightly configurators until next release https://github.com/betaflight/betaflight-configurator-nightlies/releases
humble wren
Thank you 🙏 and do you know by Chance how low I can take my PIDs safely
hoary mango
You mean test them for gps rescue?
humble wren
Yeah…the PIDs for rescue 👍
hoary mango
You can adjust them in steps of 30-50% up or down. Do one value P, or D at a time until you figure out which is contributing most. Just like simple acro tuning if P is too high it will oscillate through the return but mostly at the start. If D is too high it will also oscillate, typically a bit faster. Use the debugs and log if you want to get it perfect. But you said it wobbles so first step is to cut P and D by say a third and see how that goes. Variations of about a third are a quick way to get in the ballpark. You can set D to a very small value and tune P alone. Don’t test over water and don’t persist with a situation where it isn’t flying home or a sanity check will disarm the quad.
humble wren
If I set (D) low to tune (P) what should I have (I) at.And after setting P do I just incrementally raise D till it runs perfect.
hoary mango
Just leave I where it is.