PID Tuning
Tune only after hardware, orientation, motor mapping, and basic flight behavior are known-good.
ESPFlight Docs · v1 • Validated v1 documentation path
# Before touching PID
Frame and motors are mechanically secure.
Motor mapping and direction are correct.
IMU orientation and axis directions are correct.
Battery/power behavior is stable.
The Drone can perform a controlled conservative hover on the current baseline.
# Tuning method
- 1
Save the baseline
Record the current P, I, and D values before changes.
- 2
Change one axis or term at a time
Avoid simultaneous large changes that hide cause and effect.
- 3
Use small adjustments
Observe the behavior after each controlled test.
- 4
Stop on oscillation or loss of control
Return toward the known-good baseline before further testing.
- 5
Document the result
Keep notes tied to the hardware, firmware, battery, propellers, and frame used during the test.