IFLIGHT
STABILIZED GIMBAL SYSTEMS USER GUIDE
Copyright © 2015
IFLIGHT MODEL
. All rights reserved.
Don't change setting in the RED Aera
Advanced
Setting
P.I.D and Motor Settings
·
P,I,D – PID regulation parameters for all axes.
◦
P – describes the power of disturbance response. Higher values means a stronger
response reaction to external disturbance. Raise this value until
the stabilization quality of
fast disturbances
will be adequate. If the “P” value is too high, oscillations of the axis will
start to be present. These
oscillations will get worse if there are vibrations that reach the
IMU sensor board.
If oscillations
occur, raise the “D” parameter by 1 or 2 units, and then
try
to raise the “P" value again.
◦
D – The “D” value reduces the reaction speed. This value helps to remove low-frequency
oscillations. A “D” value that is too high can cause high-frequency oscillations, particularly
when the
IMU sensor is exposed to vibrations. In special cases, it may be filtered out by
digital filters (see below).
◦
I – The “I” value changes the speed at which the gimbal moves to incoming RC commands
and to move the gimbal back to neutral.
Low values result
in a slow and smooth reaction
to RC
commands and to getting back to neutral. Increase this value to speed up the
movement.
·
POWER
– maximum voltage supplied to the motors (0 - 255, where 255 means full battery
voltage). Choose this parameter according to your motor
characteristics.
Basic tuning:
Don't change setting in the RED Aera