I am not here to write another tutorial about PID tuning. For myself, I actually tune according to the Betaflight PID tuning wiki.

https://github.com/betaflight/betaflight...ning-guide

But even after following the guide, I will still have oscillations with certain maneuvers.  I don't pretend to be an expert. This cheatsheet are things I have written down from what I learned over the years. I wish I had a cheatsheet like this when I was starting to tuning. Remember, always tune with new props and how you would normally fly with setup. Example, don't tune without a GoPro if you are planning to use a GoPro.

#1 - Bounce back on rolls or flip. If the quad overshoot and then bounce back, Increases D for the affect axis.

#2 - If you are pitched and going forward and the angle of your pitch changes, Increase I on pitch. If the angle of the tilt is not holding, then increase I for roll.

#3 - Slow oscillations is too low P term

#4 - Punch throttle and cut. If there is movement then add anti-gravity gain.

#5 - If nose wanders without increase in throttle then increase I gain. Similar to #2

#6 - If nose wanders with throttle then increase anti-gravity gain

#7 - Propwash on hard turn. Increase D or Lower P. You will have to try it with both pitch and roll

#8 - Sliding out in turn. Increase Yaw I gain

#9 - Oscillations with high throttle only. Increase TPA

#10 - If you want a more robotic feel to your quad, Increase I for pitch and roll.

Sweet cheat sheet Voodoo! Takes the headache out of understanding the whole animal that is PIDs

I have developed my own process over the past year or so and it has worked well for me. I recently finished a build for a friend and it is still running completely stock BF PIDs. Excited to put this through a blind test with someone who doesn't understand the whole concept. Barely how a quad goes together for that matter lol (I spoil him I handle the building and repairs, he just gets to fly ) He can follow this cheatsheet now and see how it turns out.

Thanks. Most of the time stock PIDs flies pretty well except for a few maneuvers. I refer to this all the time.

(04-Jun-2018, 02:06 AM)voodoo614 Wrote: Thanks. Most of the time stock PIDs flies pretty well except for a few maneuvers. I refer to this all the time.

Very concise Voodoo I will look through it since I have not managed to tune my copter yet

Do you think simulators such as Lift Off represents the same kind of effect than IRL?
I tried changing some PIDs in simulator but I am not sure I can tell the difference.

E.g. I really think that I am quite often "sliding out" of turn, IRL and also simulator.
I tried adding I on Yaw, and for some time It felt better, but then I changed back and it was again kind of ok.
Then I was changing the value from 10 to 90 for fun, and was not able to see huge difference.
I have a feeling that IRL it would be more noticable?

Also question - in what range usually its OK to change PID values? e.g. if its smth like 60, you should change in +/- 10 units, or changing from e.g. 40 to 65 is also normal?
Just to be sure when I do this IRL that default PIDs are prbly already OK, so I should not change them more then e.g. range of 5, 10 or how many units? best practice? if any?

I am not familiar with PID in simulator. Also the PID has little real time effects on the yaw axis. You see the biggest difference on the pitch and roll.

In real tuning, if I am searching for a flyable values, I usual change 10-15 at a time. When I fine a range that is flyable, I dial it down to 1-5 changes.

THANK YOU! MODS should pin this! This list is EPIC! Thank you Voodoo!
To provide some context... I fly on the absolute edge when I'm tuning. I come from a world of RC racing and also 3d planes and helis.
Recently entered the world of QUADS - I fly line of sight and on the absolute edge of performance... to the point that I can feel if the battery has shifted in the quad...
Well - on extremely high threshold turnarounds (trying to go from full speed into a very fast but clean banked turn).... like trying to get around a pylon but turn on a dime around it...
I had two options... start the turn early (because the quad would drift a little past the desired turning point as it was carrying so much speed).... or I would overshoot the pylon by a few feet and lose some time as the quad got back on on the "rails" and proceeded.

Well... reading your list... I increased I gain on yaw... and the quad instantly turned tighter around the pylon.
Next... as I accelerate away from the pylon... I'm smashing the throttle again with a steep forward angle. Due to the sudden speed... turn... then acceleration after the pylon turn... the quad would want to fight the angle a little bit as I'm going from full speed... to almost a dead stop as I pivot around the pylon... then blasting the throttle to get back up to speed with max angle... well using your list... I increased I on pitch... and there's my acceleration.

All I can say is... THANK YOU. For those flying on the absolute edge and looking for a few hundredths/tenths of a second difference in a maneuver... these tips are golden.

Before reading this... I was doing so much testing trying to get the feel of a change in PID to the flight pattern... this list... just wow... my quad is locked in.

---

BTW... I signed up just so I could post that... because that list is something else!!!!!

(17-Jul-2020, 11:34 PM)liquid3d Wrote: THANK YOU! MODS should pin this! This list is EPIC! Thank you Voodoo!
To provide some context... I fly on the absolute edge when I'm tuning. I come from a world of RC racing and also 3d planes and helis.
Recently entered the world of QUADS - I fly line of sight and on the absolute edge of performance... to the point that I can feel if the battery has shifted in the quad...
Well - on extremely high threshold turnarounds (trying to go from full speed into a very fast but clean banked turn).... like trying to get around a pylon but turn on a dime around it...
I had two options... start the turn early (because the quad would drift a little past the desired turning point as it was carrying so much speed).... or I would overshoot the pylon by a few feet and lose some time as the quad got back on on the "rails" and proceeded.

Well... reading your list... I increased I gain on yaw... and the quad instantly turned tighter around the pylon.
Next... as I accelerate away from the pylon... I'm smashing the throttle again with a steep forward angle. Due to the sudden speed... turn... then acceleration after the pylon turn... the quad would want to fight the angle a little bit as I'm going from full speed... to almost a dead stop as I pivot around the pylon... then blasting the throttle to get back up to speed with max angle... well using your list... I increased I on pitch... and there's my acceleration.

All I can say is... THANK YOU. For those flying on the absolute edge and looking for a few hundredths/tenths of a second difference in a maneuver... these tips are golden.

Before reading this... I was doing so much testing trying to get the feel of a change in PID to the flight pattern... this list... just wow... my quad is locked in.

---

BTW... I signed up just so I could post that... because that list is something else!!!!!

Glad it helped you. The cheatsheet is very basic. There are a lot of new features in BF all meant for adjusting the feel of your quad. I personally haven't dug into them yet. It feels like every new version, you need to relearn the new features.

Edit: Funny. I am one of the MODS.