Hi all,

can somebody advice me PID values for my tricopter? It is build like this, 40cm arms.

I'm using standard APM 1.4 + OilpanV1+HMC5883, MTK16.

When in navi modes (RTL or AUTO) forward movement is too slow - around 0.5m/s. When weak wind blows against airframe movement, tri stays at place or even moves backward ;o(

I guess the stabilize or rate pitch has to be modified. Has anybody such configuration with good tuned PID params?

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There are two params that matter most for you.  

WP_SPEED_MAX is default at 450. That's 4.5m/s. That should be good. But if not you should up that. But only after you fool with this term: NAV_P


This term describes how much to tip the copter to achieve the desired rate of travel. Right now it's 2 which equals 2 * 250 or 5° of tilt from a standstill. That may not be enough for you.  (2.5m/s is the error maximum for rate.)


The other term NAV_I should ramp up and make the difference.  It can tilt the copter up to 16 more degrees to achieve the speed you want.




Thanks a lot Jason,

tomorrow I'll test it on the field.

As for WP_SPEED_MAX , i don't have the ACM with me now, but guess it was set to 600. Therefore I thought 6m/s is pretty fast and my Tri will follow the navi path as rabbit. I bet it is NAV_P with conjunction of wrong CG - battery is located too backward to central rear arm.



Hi Palo


Did you manage to fix the Yaw servo deadband, or are you living with it ?

Hi Charlie,

if the day would have 48 hours then the second half (24h) I would only play with my hobby and sniff in ACM source codes and for sure I would find it. Unfortunately it doesn't ;o( .

We (me and my wife) are awaiting new little hobbyist and still doesn't have all managed thus only few minutes from whole day remains for my pastime.

Therefore I only depend on guys here if they fix it. Must live with it as is ;o(.

Thanks Palo


I'll carry on looking. I do remember that earlier versions of the quad firmware had a yaw deadband problem that was fixed, I wonder if it was not fixed on the tricopter version ? maybe a question for Jason Short if he's listening ?

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