TxPID



Module Settings

You can adjust a maximum of 3 independent instances. Each instance can control a stabilization value based on a transmitter input.

 

Example

 

In the following example we will control the Kp value from the roll rate stabilization on the inner loop.

 

Suppose we have a transmitter with a variable knob assigned to an aux channel of the receiver. The channel should already be detected and calibrated accordingly on the  Input tab. In above example, the channel is bound to Accessory0.

 

We select the PID option Roll Rate.Kp and assign it to our Accessory0 Control Source.
Furthermore, we set the Min of the range on 0.0015 and the Max of the range on 0.0095.
This way, the knob on the TX will set the value 0.0015 as Roll Rate.Kp when turned on minimum and 0.0095 when fully turned on maximum.

 


EasyTune

Overview

EasyTune allow modifying Pitch/Roll/Yaw PIDs settings using only two potentiometers on RC transmitter.


Basic setup

RcInput: Setup at least one variable knob as Accessory (two knobs preferred to cover Pitch and Roll axis at same time).

TxPID > Module Settings:

  • Choose the PID bank you want to use,
  • Setup two instances with EasyTuneRatePitch  and/or EasyTuneRateRoll,
  • Affect the Accessory input you want for every instance,
  • Define limits, this refers to the range you want for the Proportionnal (P) Rate value.

Update mode: You can choose 'Always' initially and look how the PID values change in stabilization tab.

EasyTune Settings:

Please note those factors are the same used in the previous OPTune process / spreadsheet, default values are just fine but you can play later with sliders and see the behavior changes.


 

EasyTune video setup




Tune

Of course EasyTune need to be used in flight, FPV is preferred so every knob change can be monitored while doing flip/rolls.
Flight need to be "oscillations free" and stops after a roll or pitch, without rebound.
After successful tuning, the PID values can be copied as "static" PID settings in others PID banks and TxPID module disabled.

Please note the TxPID can be temporary disabled setting the Update mode to "Never".


Saving Values

It is important to note that the adjusted values are not stored permanently onto your board (unless you have changed other values and saved whole object - see below). If you have adjusted the stabilization values via your TX, then you still need to save these to the permanent Flash memory of your board via the Stabilization tab.

The stabilization values you have been tuning with the TxPID are active on your board as long as the board is not restarted. If you connect the board to the GCS, these values will be loaded and transferred in the Stabilization page. You can now review and save the values permanently.

(warning) If the TxPID module was active and you didn't reboot your board, then these updated values are loaded from the board into the GCS. It's important to know that if you want to change and save another value in the Stabilization page you are also saving the values from the TxPID module at this point. The values which were actively controlled by the TxPID module are not permanently stored on the board. But, if you connect the board to the GCS, these values are immediately loaded into the GCS, so you are saving them along with other changes you would make in the Stabilization page. This may sound very normal and logical, but you should remember this when you are adjusting another value in the Stabilization page via the GCS which is not controlled by the TxPID module.

Once you have completed your tuning and are no longer using the module, it's advised to disable the TxPID Module. Uncheck Enable TxPID Module, click save and reboot or power cycle your board.