PID Basics

A simple model for understanding P, I, and D before changing tuning values.

ESPFlight Docs · v1 • Validated v1 documentation path

# Three terms

PID at a glance

P Proportional Responds to the current error.

I Integral Corrects persistent accumulated error.

D Derivative Damps rapid change and overshoot.

P — proportional

Responds to the current error. Too little can feel weak; too much can contribute to oscillation.

I — integral

Accumulates persistent error over time. It helps remove sustained bias but can build unwanted correction if misused.

D — derivative

Responds to how quickly the error is changing. It can add damping but also reacts to noise and vibration.

# Tune the system, not the number

PID values only make sense together with the frame, motors, propellers, battery, sensor mounting, loop timing, filtering, and control mode. Fix mechanical and orientation problems before tuning.

For the practical workflow, continue to PID Tuning .