User Manual

Some items in the program that might not be obvious (taken from Multiwii.com
site):
RC rate and RC expo
RC rate: defines the sensibility of the multicopter for PITCH and ROLL RC stick. If you feel your multi too
reactive, decrease it. If you want to improve its responsiveness, increase this parameter.
RC expo: defines a smoother zone at the center of PITC and ROLL RC stick. With this function, it’s possible
to have both a good precision and a good amplitude.
0 = no expo
1 = full expo
If you don’t understand really those parameters, I encourage you to read your TX documentation, as those
functions are also generally suported by the TX.
It’s better to support them directly in Multiwii because the resolution is better this way.
P and I Level
Defines the acc influence in stable mode only (this parameter has no effect if the stable mode is disable)
If the multi is not stable once activated, reduce P.
PITCH/ROLL/YAW PID and rate (see tuning section later)
For a very stable multicopter with a solid attitude, the PID settings must be set high. But if you want to do
some acrobatics with these settings, the multi starts to wobble in fast translation or when you decide to
shake it to much. One solution is to decrease the PID, but it is to the detriment of static stability.
So instead of implementing a switch between 2 PID settings, there are now 2 options in the GUI to define
the way we should decrease PID, depending on ROLL/PITCH/YAW stick deviation
The two boxes on the right defines the rate of cancellation of the nominal PID (the one which is used on
neutral ROLL/PITCH/YAW stick position) in relation with ROLL/STICK/YAW deviation. In fact only P and D
parameters are impacted in the transformation. The purpose of this setting is not really to gain more stability,
but to gain more maneuverability. 0 = soft rate (for FPV or beginners); 0.4 = soft acro ; 0.7 = fast acro ; 1 =
insane rate
If you are not familiar with this, just keep the default values (0)
ALT PID
These values adjust the altitude hold function. P,I,D are the same definitions as for the Pitch/Roll/Yaw loops
above in terms of their effect on the Altitude hold loop. The VEL PID is not currently used any longer. The
values shown above are NOT the default values. Once activated altitude hold is adjusted by throttle: above
neutral increases alttitude set point, below lowers it.