RC Flying

PID’s modes, PID’s Calibration & Flying modes


  • MultiWii(old): tought for 8 bit controller.
  • MultiWii(rewrite): tought for 8 bit controller.
  • LuxFloat: tought for 32 bit controller.
  • MultiWii(latest): tought for 8 bit controller.
  • MultiWii(hybrid): tought for 8 bit controller.
  • Harakiri: tought for 32 bit controller.

I am normally using LuxFloat as from my point of view and my feelings it reacts quite stable. Here Oscar make a little bit of explaination what is different in every PID mode.

You should try them until you fine one that fit your requirements.



This is just a feedback (loop), which calculates the error between the desired value and the actual value. Then this infinite loop tries to minimize this error over the time.

For multicopers are really useful to find the stabilize the desired position without big oscilations. Here you can see what represents every parameter:

  • P (Proportional): how strong it will react to mantain it position (level…).
  • I (Integral): reaction to external forces.
  • D (Derivative): damps extreme movements.

In this link you can find a good explanation about PID tuning.

cleam5 clean6


  • Roll: control the movement in X axis.
  • Pitch: control movement in Y axis.
  • Yaw: control movement in Z axis.


  • Level: controls the leveling of the multicopter, i.e.  how stabilizes it. 


  • Alt: altitude hold reaction.
  • Vel: vertical velocity. How fast it reacts to reach the desired position. If you see your multicopter oscilating, jumping, you should decrease it P value.


  • Mag: heading hold.


  • Pos: determine how fast the multicopter is going to reach its position.
  • PosR: determine the behaviour of the multicopter once is reaching it position.
  • NavR: same as PosR but for waypoint navigation and gps home mode.


  • The rate can be applied to roll, pitch and yaw. These values increase the reaction force to the inputs received from the tranmitter (increases the input sensitivity). You have to increase these values if you want to do loops.


  • Allow to decrease the PID values as the throttle increases. Try it if your multicopter is oscilating while you increase the throttle.



Primary mode

  • Rate/Acro: basic mode.
  • Angle: auto-level
  • Horizont: auto-level, improved angle.

Secondary mode

  • ARM: Enables motors and flight stabilization.
  • Baro: altitude hold
  • Mag: heading lock
  • Sonar: altitude hold mode.

GPS Home

  • Return to home position. UNDER DEVELOPMENT

GPS Hold

  • Maintain longitude and latitude. UNDER DEVELOPMENT


  • Calibrate the roll, pitch and yaw to the proper parameters, so give it a try. It can help to calibrate your PID’s but is a feature still UNDER DEVELOPMENT.

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