Hi, been flying a zmr250 quad for couple weeks in attitude mode and LOS . Finally decided to try some tuning and stumbled onto the unique oscillation method and calculator. They had me do roll rate Kp and pitch rate Kp and enter into calculator. Works much better in attitude mode. Can finally punch out at take off. As I've been learning before tuning i would attempt on occasion to switch to rate mode. Should the numbers from the calculator also be input into the other two settings banks? Also did some work with expo and even with much higher pid settings response is super compared to original generic settings.

It sounds like you are using Open Pilot software, if using the Calculator.

Can you post screenshot of the GUI settings you have at present, has been a while since I have used Op software, but am happy to help you where I can.

Sorry i tried getting a screenshot off of my laptop with no luck. I am running libre pilot as my GCS. version 15.09 . The article was written for OP. But being LP is a rebranded version of OP i felt could be useful for me as I dont truly understand PID as of yet. The calculator I found online was list as OP and LP. I did understand this method and felt would work better than LP easy tune. Once numbers were input into calc i applied rate pid values into screen for bank one (which is attitude mode) and immediately copter became more responsive and easier to fly accurately. so the real question i guess is should those values that made copter stable and accurate b the same in true rate mode which is set as my third flight mode

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Ok. thanks for any help available that shows new values entered and GCS.

I would up you Rate mode response to 400 or higher if you plan on using Rate mode, as it will make the quad flip and roll much quicker..which means you will not lose as much height. play around with Rate mode response until the speed at which it rolls and picth's over is to your liking. You can leave the other numbers the same for now.

This is just a starting guide.. Only you will know what is right for you, once you practice.


On a side note..I would avoid Rattitude mode, which is a combination of Attitude and rate modes, as you will probably find yourself eating dirt very quickly when the Rate mode component kicks in.

Ok sounds good. But should I use the preset pids for rate or would I input the ones I have in bank one that finally made quad feel locked?

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Or do I attempt to find UOV in strictly rate mode with no leveling?

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All of the banks have different PID values. And for true rate how do I find correct values. Those values in bank one where found with attitude acting on quad

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And yes I do not use bank two. I'm either in attitude or trying to fly purely n rate? And mainly in rate learning to move a little and reattain hover but it wobbles all over and will not take off clean in rate.

Sorry yes, Add 75, 75 and 180 to your Rate bank and just change your rate mode response to a higher value, like I said to about 400 or higher, and leave the same numbers in max Rate limit.

As to the wobbles in Rate mode, a lot of that can be due to your own input, as Rate mode has no self level. every stick input you make will be a precise move, meaning if you nudge the stick left a bit the quad will move left and continue to move left until you apply opposite stick to bring it back level. It is all part of learning Rate mode.

Ok thank u the 75 75 and 180 go get added to P ? And I also am going to add expo to it. That should help with touchiness.

Copy your entire bank 1 to Bank 2 and just change the Rate Mode response to 400, 400 and 380, and yes, add some expo, it will help you around middle stick. and of course assign a radio switch for Bank 1 and Bank 2, that way you can switch between Attitude and Rate mode as you like.

Thank u I will run right out and try it! I have a three position switch already assigned bank 1 is attitude and 3is rate. Two is a mongrel of rate and attitude so yes I have stayed away from it.

I made it out flying today .... It appears to have too much pitch wobble to it in attitude while hovering and descent. I believe too much gain in the pitch rate Ki . Rate was what too snappy to control may turn the deg/s back down n work up to the 400. Almost uncontrollable even with expo. Did not have as hard of time before in rate even with untuned . Still a work n progress. But please tell me if I am thinking of this correctly

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What would happen if I turn down some of outer loop (attitude) Kp