From fddf3a5761b6c71b7008611a6c1f14231a2d6304 Mon Sep 17 00:00:00 2001 From: Dave Pitman Date: Wed, 4 Feb 2015 17:33:47 -0800 Subject: [PATCH] Update PID tuning.md --- docs/PID tuning.md | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/docs/PID tuning.md b/docs/PID tuning.md index ccd9362e04..240d00c8e2 100644 --- a/docs/PID tuning.md +++ b/docs/PID tuning.md @@ -45,7 +45,10 @@ An Example: With TPA = 50 (or .5 in the GUI) and tpa_breakpoint = 1500 * At 3/4 throttle (1750), PIDs are reduced by approximately 25% (half way between 1500 and 2000 the dampening will be 50% of the total TPA value of 50% in this example) * At full throttle (2000) the full amount of dampening set in TPA is applied. (50% reduction in this example) -How to use this? +![tpa example chart](https://cloud.githubusercontent.com/assets/1668170/6053290/655255dc-ac92-11e4-9491-1a58d868c131.png "TPA Example Chart") + + +**How and Why to use this?** If you are getting oscillations starting at say 3/4 throttle, set tpa breakpoint = 1750 or lower (remember, this is assuming your throttle range is 1000-2000), and then slowly increase TPA until your oscillations are gone. Usually, you will want tpa breakpoint to start a little sooner then when your oscillations start so you'll want to experiment with the values to reduce/remove the oscillations.