Almost all quadcopter PID tuning tutorials can be summarized into one sentence: “Increase P until you see oscillations, then lower it”. Plus some thoughts about I and very vague advices about D and that is all. When I got into the hobby, I’ve read all of those tutorials. And I did know more about PID tuning than before that. I even had more questions than before. How to recognize high frequency oscillations, how to recognize low frequency oscillations. Lower P? OK, but how much? And D? How to tune this bloody D? As a result, every time I tried, I ended up with very snappy but shaky quadcopter that maybe responded very quickly to commands, but was very shaky and was making strange noises.
And then came Cleanflight and Blackbox. Live became simpler. What I’ve learned from Blackbox logs is that I wanted high P so much, I had too much of it in the end. Actual oscillations begins before we see or hear them and excess D introduces jello. Blackbox simplified things, but still, logs analysis is something like an art. You have to know what to look for. Continue reading “Detecting Cleanflight PID tuning issues with Blackbox: excess P gain” »