Bitcraze Forums

So, i add Kd coefficient and get gorizontal stabilization! See picture. There is result of work PID with Kp = 150.0 and Kd = 50.0.

One thing I learned when playing around with this is that the base thrust needs to be there to simulate the hovering, else you get another type of system. So when you are testing still have the thrust for all motors in the equation but leave out the control of the axis that are locked.