Inflight Tuning - KissUltra/wiki GitHub Wiki

Inflight tuning

From firmware 2.0.1-B39 there is a possibility to change your PIDS, and from B41 - Rates and TPA during your flight, B48 - accelelation and braking factors. The idea is to allow you fine tune your baseline PIDS for better flight performance. ULTRA_DEFAULTS preset is "de facto" the best starting tune for most of the setups, but if you want to have the best performance, you might adjust it just a little. This is all that it takes.

Prerequisites

You must have radio with analog KNOB, Switch and 2 extra channels you can spare. If you dont have knob on your radio, you can emulate it using following manual Knob Emulation / Virtual Knob

Switch channel called Tuning selector is used to select one of the PID parameters you plan to tune, and KNOB channel (Tuning KNOB) is used to adjust it.

This is how i set it up:

How to use

From version B41, you can tune more parameters in flight (27 to be precise). You can select what actually you wanna tune in Ultra SETUP page. By default, to avoid clutter and make it simplier - only PIDS will be enabled. From version B48 you have extra flight performance parameters to tune.

Version B58 also adds PD gains where you can change P and D at the same time, keeping its balance.

During flight, if you want to adjust any PID parameter, you just activate the Tuning selector switch. When activated, you will see parameter name, its current value and desired value. Knob must be centered on activation, otherwise you will have warning saying to do so.

After that you can rotate tuning knob to the negative or positive direction. New pid value will be immediately applied to the flight controller. When you done with changing and happy with result, you can deactivate tuning selector. Next activation of the tuning selector will activate next pid parameter.

Order of the parameters: Roll P, Roll I, Roll D, Pitch P, Pitch I, Pitch D, Yaw P, Yaw I, Yaw D.

The range that you can adjust depends on the parameter you choose. For example, for P you can adjust -1 ... +1.

In some cases you want to adjust more. Then you have to circle around all PIDS to return to the same parameter and you can do -1 ... +1 more. This is done for safety so your quad will not freak out.

After you done your tuning, and land, you can review your changes in the FC Setup tool of the OSD. There you can SAVE new values to the flash, or cancel your tune completely and return to stored values. You also can just replug your battery, and all changes you made in flight will be reverted.

Happy tuning!

PS Yes, it also works on HD OSD :)

PPS Yes, you have to be in flight to do inflight tuning :)