User Manual
XProHeli Silk Gimbal
Silk Gimbal
Page 39
©2014 XPROHELI. All Rights Reserved.
Manual PID Tuning
For novice Silk users we do not recommend immediately diving into
motor and PID tuning. This section is for advanced users who are
familiar with all the parameters of the software. Always remember
to make a backup of your profile settings so you can easily reload
and have record of your original PID settings!
Prerequisites:
To start with fine tuning your PIDs you should have your original Silk
Profile settings loaded. Your motor polarity should be correct and
your IMU sensor should be calibrated and configured properly.
Tuning is achieved by referencing the Real Time Data tab in the
GUI. You should have the gimbal on a table mounted and locked
to the Silk stand. The battery should be fully charged for the tuning
process.
Tuning Process:
Set gimbal to Profile 4 (LOCK MODE) Start with the PITCH axis, then
ROLL then YAW. Begin by deflecting the camera with your hand on
each axis and watch the speed and smoothness of the return
action of the GYRO data on the Real Time Data graph. Your goal in
tuning is to raise the P and D value for each axis as high as possible
without causing high frequency feedback or unwanted vibrations.
i.
Set “I” to a small value of 0.04 or less.
ii. Slowly increase “P” until the motor starts to oscillate.
iii. Increase “D” in small increments until the oscillations stop.
iv. Repeat steps ii and iii until high-frequency vibration
occurs. You may feel the vibration by hand and see a noisy
line on the gyro graph. At this point, you have identified the
maximum values for “P” and “D” for PITCH for your setup.
Decrease each slightly and proceed to step v.
v. Repeat steps i through iv for ROLL. Stabilization of ROLL
may cause instability in PITCH. If so, reduce P and D slightly
for PITCH. Cross-axis interference is most pronounced when
the gimbal construction is less rigid.
vi. Repeat steps i through v for YAW.
