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Betaflight drone flight thanks to the PID Controller. In this episode of FPV University let’s have a deep dive into how Betaflight’ PID controller works. The P-Term, I-Term, D-Term and Feed Forward together with Error Computation, Antigravity, I-Term Relax, Absolute Control and D_Min. So, be prepared for 13 minutes of education!
All the Betaflight gyro filters https://www.youtube.com/watch?v=NCDyA9bnf4I
0:00 Betaflight PID Controller Into
0:58 The Rate PID Controllers
3:04 Acceleration Limit
3:31 Error
3:50 P-Term, the Proportional component
4:56 Antigravity Boost
5:28 I-Term, the Integral component
5:37 I-Term Relax
7:01 Absolute Control
7:36 Antigravity
8:36 Feed Forward
10:15 D-Term, the Derivative component
12:43 D_Min
13:39 Summary