Setting the PID controllers on a hex

Is there a known good way to set the PID controllers on a hexcopter? I moved from an underpowered quad to an overpowered hex and it's (at least by comparison) very "squirrely". Very sensitive to manual inputs, and when I tried to fly it with the default PIDs it was borderline unstable (+/- 20 degrees in the roll) with no inputs applied. With half of the P gain, it flies, but it's not as stable as I'd wish it would be.

I'm imagining a tutorial or a recipe for setting the PID gains must be somewhere. Where?



You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –


  • Are you sure you're using the stabilized mode and not the 'acro' mode?

    Tuning PID values takes time and any changes in total weight could require a new calibration. A classical method is the "Ziegler Nichols" method. You should make I and D zero, so you only deal with a P controller. If you use APM, you can use a dial knob on the tx to modify the P value between two extremes. This way you can just fly and find the most suitable value, instead of disconnecting/reconnecting for every PID change. So to tune this, change P a little with the knob and apply a small step input to the quad. At some point you should see it react more aggressively until it starts oscillating. That's when you can stop.

    When you have a suitable P, then tune I and D after that. The I term is the integrator that removes a constant error / bias. The D term responds to how fast the process is approaching the setpoint and decreases the output to reduce overshoot and reach the final setting faster.

This reply was deleted.