PI Tuning Guide from the Kaptein Himself

Just hot of the Youtube, a PI Tuning guide from Kaptein KUK, the inventor of the KKMulticopter Board.  I'm not sure what board he's actually using for this tutorial, since the KK Board doesn't have PI tuning, but just using simple potentiometers for adjusting gyro gain.

The concepts are just as valid for Arducopter.


Views: 7427

Comment by healthyfatboy on March 6, 2012 at 6:07pm

Very nice video. It's in my favorites now as a reference.

His newest firmware for the KK Board (X v4.7 and not sure on +) both incorporate PI tuning. The P for roll/pitch is adjusted using the roll pot, I for roll/pitch using the pitch pot, P for yaw using the yaw pot, and I for yaw is a fixed value in the firmware.

Comment by Rana on March 6, 2012 at 6:16pm

Very useful for newbies, thanks for posting !

Comment by Ramon L on March 6, 2012 at 7:13pm

that firmware didn't worked for me..( KKBlackBoard Atmega 168P )  motor 4 didnt spin so I switched back to 2.0 by M. Kim

Comment by John Arne Birkeland on March 7, 2012 at 2:39am

The KK boards are great has has been a major factor in the quad revolution. But as a fellow Norwegian I cringe every time his nickname is mentioned. Kuk is not a very nice word in Norwegian.. :)

Comment by Sergiu on March 7, 2012 at 4:54am

This does not look  like P (proportional gain) adjustment to me. What he is adjusting looks like Derivative gain.

Prop=Error*Gain . As long as quad is keep tilted, Error will be proportional to that tilt angle.

So when he turns the quad almost 90 deg and leave it there both motors have same RPM and the quad is not going back to level position.This is normal response for derivative controller only. If it was indeed proportional gain ,one motor RPM should be higher than the other.

Comment by healthyfatboy on March 7, 2012 at 6:59am


There are some "issues" with that firmware for a lazy #4 motor. Some people have issues and some don't. I had issues and the trick that worked for me (and many others) is to trim it out. It's bizarre how you have to do that as some people don't have issues at all but once you trim roll, pitch, and yaw, then set those in your sub-trim so your trims are back at 0 and you'll be good to go.

I still think it's a firmware issue but it could be just some specific hardware related issues as there are many who also fly that v4.7 without a single problem. Try it out. It's pretty rock solid when it's up in the air.

Comment by Ellison Chan on March 7, 2012 at 10:26am

Hey John, it's got something to do with chickens, right? ;-)

Comment by John Arne Birkeland on March 8, 2012 at 3:31am

Ellison:  It is slang for a body part unique to the male gender. :)

Comment by Norman Sanchez on May 26, 2012 at 6:05pm


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