### pid value

below is a link for my quadcopter simulation.

http://youtu.be/8xYpy0YkA-c

my pid value for the roll and pitch is p=0.7,i=0,d=0.1 while for yaw is p=0.2,i=0,d=0.

can anyone advice me on why my quadcopter can't stabilise and keep spinning in a cw direction and tend to drift away from the starting point.

is it because my pid value is wrong?

#### Replies

• MR60
Is your quad symetrical on all axis ? If yes parameters for roll and pitch should remain identical.

Second it is a good rule to have I=P. I see your I is zero which means basically that you do not use the integral part of the pid loop. I is used to compensate for permanent external forces on the quad such as wind for example.

What is the weight of your quad and what props do you use at which KV ?
• MR60

If you are a mathematician, the P is Proportion, D is Differencial, and I is Integral ... and these will all have instant meaning to you.  But if you are not:

Think of P as being the Power of the response.

Think of D as being the raDar that watches how close the correction is getting to target and making an appropriate response.

Think of I as being Intelligence remembering the long term

So the existing yaw settings have no raDar and no Intellegence, just a little power and maybe not enough.

If changing the PIDs for yaw do not correct well enough then you may:

o have a bent motor mast

o have a loose motor mast bolt

o have a loose or tilted motor mount

o incorrect rotor spin (you can tell this by applying Yaw and watching which motor spin up and down)

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