User Manual

USER GUIDE

Step 2: Integral Gain (3D Mode)

After getting the Proportional Gain dialed up to a comfortable level, begin to increase the Inner Integral Gain

for Pitch and Roll. In this step, it is important to increase the Inner Integral Gain until the model strongly holds

orientation whenever the stick is centered in 3D Mode.

A good test is to pitch the model forward in 3D Mode and center the stick. The model should fly forward

aggressively. If, during its acceleration, the model does not hold the initial Pitch angle, then the Integrator Gain

for Pitch is too low.

If the model begins to oscillate or appears wobbly, then reduce the Integral Gain for the oscillating axis until the

oscillations disappear.

Step 3: Derivative Gain (3D Mode)

Finally, we need to eliminate the high frequency oscillations that were found in Step 1. To do this, increase the

Inner Derivative Gains for Pitch and Roll. Increase this value by small increments until a sharp tap on the

Pitch/Roll control stick does not result in any bounce or wobble behavior.

In some cases, increasing the Inner Derivative Gain will reach a point where oscillations get worse instead of

getting better, or your motors start to get very hot during flight. In this case, double check that you have

Oneshot/Multishot enabled and at the maximum supported update rate for your ESCs. If this does not solve

your issue, re-try Step 1, but focus on reducing the oscillations at that stage. Once you've reduced the

oscillations at Step 1, you can re-try Step 3, starting from 0 Inner Derivative Gain and working up until the

oscillations are eliminated.

Multishot Note: As you push the Inner Derivative gains higher, you may notice that your effective Min Idle

Throttle is increasing, even if you haven’t changed this setting. This is caused by noise being amplified by the

increased Derivative control behavior. This is a trade-off of high Derivative gains, and will need to be balanced

against performance during your tuning process.

Step 4: Revisit Integrator Gain (3D Mode)

You might find that after introducing the Inner Derivative control element, it might be possible to add a higher

Inner Integral gain. Increase this until either you can make a high throttle assertion or “punch out” without

noticeable orientation change, or until you start to notice a “bounce back” or ringing behavior after a rapid