PID (PROPORTIONAL-INTEGRAL-DERIVATIVE)
The primary tuning parameters are PID. For a technical explanation of PID parameters in
control loops, refer to the following Wikipedia article: en.wikipedia.org/wiki/PID_controller
“P” – Defines the strength of response to a disturbance. Higher values mean a stronger
response to external disturbance. Raise this value until the stabilization quality is
adequate. However, if the “P” value is too high, oscillations of the axis will occur. These
oscillations will get worse if there are vibrations that reach the IMU sensor board. If
oscillations occur, raise the “D” parameter by one or two units, then try to raise the “P”
value again.
“I” – The “I” value changes the speed at which the gimbal moves to incoming RC
commands and moves back to neutral. Low values result in a slow and smooth reaction to
RC commands and returning to neutral position. Increase this value to speed up the
movement.
“D” – The “D” value reduces the reaction speed of the gimbal. 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.
Limit Accelerations – Check this option to limit angular accelerations with RC or serial
control. Setting this limit prevents rapid movement and results in smoother camera control.
If your gimbal is mounted on a multi-rotor frame, setting this limit will result in less impact
to the frame in flight from quick movements of the camera. The lower the limit, the
smoother the camera movement but the longer it takes for the camera to move to the
desired point.
Power – The power setting defines the maximum voltage supplied to the motors (0-255,
where 255 means full battery voltage). Choose this parameter according to your motor
characteristics. Find the lowest power setting that still provides good stabilization and
adequate holding torque. A Power value that is too low will not provide enough force for
the motor to stabilize the camera, particularly in windy conditions, when the gimbal is not
well balanced, or if the gimbal suffers from mechanical friction. Slowly lower the Power
parameter to find its optimal value.
Caution: Avoid high power settings that cause your motors to get too hot. Motor temperatures over 80 °C
(176 °F) will cause permanent damage to motor magnets.
Raising the power is equivalent to raising the “P” value in the PID settings. If you raise the
POWER value, you should re-tune your PID values as well.
“+” – Additional power that will be added to the main power in case of a large error caused
by missed steps. This additional power helps to return the camera to the normal position. If
main power plus additional power (+) is greater than 255, the result is limited to 255.
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