Quad: Hovership ZUUL(4s and 3s)
Firmware Version 1.9.0
PID controller 1
Roll P 5.4 I 0.030 D 35
Pitch P 3.8 I 0.020 D 25
Yaw P 11.0 I 0.050 D 1
Roll rate 0.99
Pitch rate 0.99
Yaw rate 0.78
TPA breakpoint 1400
RC rate 0.75
RC expo 0.75
throttle expo 0.00
PID Controller 2 is Lux’s new floating point PID controller. Both controller 0 and 1 use integer arithmetic, which was faster in the days of the slower 8-bit MultiWii controllers, but is less precise.
This controller has code that attempts to compensate for variations in the looptime, which should mean that the PIDs don’t have to be retuned when the looptime setting changes.
There were initially some problems with horizon mode, and sluggishness in acro mode, that were recently fixed by nebbian in v1.6.0. The autotune feature does not work on this controller, so don’t try to autotune it.
It is the first PID Controller designed for 32-bit processors and not derived from MultiWii.
The strength of the auto-leveling correction applied during Angle mode is set by the parameter “level_angle” which is labeled “LEVEL Proportional” in the GUI. This can be used to tune the auto-leveling strength in Angle mode compared to Horizon mode. The default is 5.0.
The strength of the auto-leveling correction applied during Horizon mode is set by the parameter “level_horizon” which is labeled “LEVEL Integral” in the GUI. The default is 3.0, which makes the Horizon mode apply weaker self-leveling than the Angle mode. Note: There is currently a bug in the Configurator which shows this parameter divided by 100 (so it shows as 0.03 rather than 3.0).
The transition between self-leveling and acro behavior in Horizon mode is controlled by the “sensitivity_horizon” parameter which is labeled “LEVEL Derivative” in the Cleanflight Configurator GUI. This sets the percentage of your stick travel that should have self-leveling applied to it, so smaller values cause more of the stick area to fly using only the gyros. The default is 75%
For example, at a setting of “100” for “sensitivity_horizon”, 100% self-leveling strength will be applied at center stick, 50% self-leveling will be applied at 50% stick, and no self-leveling will be applied at 100% stick. If sensitivity is decreased to 75, 100% self-leveling will be applied at center stick, 50% will be applied at 63% stick, and no self-leveling will be applied at 75% stick and onwards.
All of the systems available channels maybe viewed and selected from the receiver tab. The below screenshot shows that cleanflight can support 4 primary channels and 8 auxiliary channels which can be used to enable or select special functionality.