Based on tips for tuning PX4 PID parameters written in my previous post [1] or even using the default values directly, you will be able to fly your vehicle freely in manual or stabilized flight mode. However, if you are using an unique vehicle (usually assembly by yourself and only equipped with sensors you desire) and struggling for finding the best PID parameters for your applications. I think following 8 tips will help you to get ideal PID parameters. This is the vehicle I made based on LHI QAV250 fiber frame, with TX2, high-speed camera, etc.[2] Tip1: Tuning order: Rate controller -> attitude controller -> position controller The PX4 controllers are layered [3], which means a higher-level controller passes its results to a lower-level controller. Thus the PID tuning needs to be done from lowest-level controller to highest-level controller. Tip2: Check if PWM_MIN is set correctly. Remove propellers Arm the vehicle and lower the throttle to the minimu
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