How to Do PID Tuning in ArduPilot for Stable Flight

To do PID tuning in ArduPilot, adjust the P, I, and D parameters using the Mission Planner or QGroundControl software to improve flight stability. Start by increasing P until oscillations appear, then adjust I to reduce steady-state error, and finally tweak D to smooth the response.

Syntax

In ArduPilot, PID tuning parameters are set using specific parameter names that control the Proportional (P), Integral (I), and Derivative (D) gains for each control axis (Roll, Pitch, Yaw).

• Roll: ATC_RAT_RLL_P, ATC_RAT_RLL_I, ATC_RAT_RLL_D
• Pitch: ATC_RAT_PIT_P, ATC_RAT_PIT_I, ATC_RAT_PIT_D
• Yaw: ATC_RAT_YAW_P, ATC_RAT_YAW_I, ATC_RAT_YAW_D

You can set these parameters via the Mission Planner's Full Parameter List or QGroundControl's Parameter Editor.

ini

ATC_RAT_RLL_P = 0.15
ATC_RAT_RLL_I = 0.10
ATC_RAT_RLL_D = 0.003

ATC_RAT_PIT_P = 0.15
ATC_RAT_PIT_I = 0.10
ATC_RAT_PIT_D = 0.003

ATC_RAT_YAW_P = 0.10
ATC_RAT_YAW_I = 0.05
ATC_RAT_YAW_D = 0.0005

Example

This example shows how to tune the Roll axis PID values using Mission Planner:

1. Connect your drone to Mission Planner.
2. Go to the Full Parameter List.
3. Find ATC_RAT_RLL_P, ATC_RAT_RLL_I, and ATC_RAT_RLL_D.
4. Start by increasing P slowly until you see oscillations in roll during flight.
5. Reduce P slightly to stop oscillations.
6. Increase I to reduce drift or steady errors.
7. Adjust D to smooth out the response.

Repeat for Pitch and Yaw axes.

ini

ATC_RAT_RLL_P = 0.20
ATC_RAT_RLL_I = 0.12
ATC_RAT_RLL_D = 0.004

Common Pitfalls

Common mistakes during PID tuning in ArduPilot include:

• Setting P too high: Causes continuous oscillations and unstable flight.
• Ignoring I term: Leads to drift and poor position hold.
• Overusing D term: Can cause noisy and jittery control.
• Changing multiple parameters at once: Makes it hard to identify which change caused an effect.
• Not testing in safe conditions: Always test tuning in a safe, open area to avoid crashes.

ini

Wrong way:
ATC_RAT_RLL_P = 0.50  # Too high, causes oscillations

Right way:
ATC_RAT_RLL_P = 0.20  # Moderate value for stable control

Quick Reference

Parameter	Description	Typical Starting Value
ATC_RAT_RLL_P	Roll axis proportional gain	0.15 - 0.25
ATC_RAT_RLL_I	Roll axis integral gain	0.10 - 0.15
ATC_RAT_RLL_D	Roll axis derivative gain	0.002 - 0.005
ATC_RAT_PIT_P	Pitch axis proportional gain	0.15 - 0.25
ATC_RAT_PIT_I	Pitch axis integral gain	0.10 - 0.15
ATC_RAT_PIT_D	Pitch axis derivative gain	0.002 - 0.005
ATC_RAT_YAW_P	Yaw axis proportional gain	0.08 - 0.12
ATC_RAT_YAW_I	Yaw axis integral gain	0.04 - 0.06
ATC_RAT_YAW_D	Yaw axis derivative gain	0.0003 - 0.001

Key Takeaways

Tune PID parameters one axis at a time for clear results.

Start by increasing P gain until oscillations appear, then back off slightly.

Use I gain to correct steady-state errors and drift.

Adjust D gain to smooth control without causing jitter.

Always test PID changes in a safe, open environment.